| Autor: |
Buschmann, Thomas, Lohmeier, Sebastian, Kühnlenz, Kolja, Buss, Martin, Ulbrich, Heinz, Pfeiffer, Friedrich |
| Zdroj: |
it - Information Technology; July 2007, Vol. 49 Issue: 4 p218-223, 6p |
| Abstrakt: |
Humanoid robots are perfectly suited for service applications, since their human-like shape allows them to easily access environments designed for humans. This paper presents the performance enhanced humanoid robot LOLA. The goal of the project is to realize fast, human-like and vision-guided walking. LOLA's hardware is characterized by lightweight construction, modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Real-time walking control is realized by a hierarchical trajectory generation and control system. Hardware and control are designed using a comprehensive multibody model of the robot. LOLA is equipped with a novel multi-focal vision system with four cameras and 6 degrees-of-freedom. Multifocal situation-specific gaze control provides high perception quality, flexible reaction, and accurate localization and navigation in large and weakly structured environments. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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