Humanoid robot Lola: design and walking control.

摘要: In this paper we present the humanoid robot LOLA, its mechatronic hardware design, simulation and real-time walking control. The goal of LOLA-project is to build a machine capable stable, autonomous, fast human-like walking. LOLA characterized by redundant kinematic configuration with 7-DoF legs, an extremely lightweight joint actuators brushless motors electronics architecture using decentralized Special emphasis was put on improved mass distribution legs achieve good dynamic performance. Trajectory generation control aim at faster, more flexible robust Center trajectories are calculated in from footstep locations quadratic programming spline collocation methods. Stabilizing uses hybrid position/force task space inner position loop. Inertial stabilization achieved modifying contact force trajectories.