Modular joint design for performance enhanced humanoid robot LOLA

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 88-93

  Lohmeier, Sebastian ^a   Buschmann, Thomas ^a   Ulbrich, Heinz ^a   Pfeiffer, Friedrich ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; DECENTRALIZED CONTROL; DEGREES OF FREEDOM (MECHANICS); MACHINE DESIGN; MOTION ESTIMATION; ROBOTICS;

ELECTRONICS ARCHITECTURE; JOINT DESIGN; LINEAR ACTUATORS;

MODULAR ROBOTS;

EID: 33845667781     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1641166     Document Type: Conference Paper

References (21)

1. K. Hirai, M. Hirose, and T. Takenaka, "The development of Honda humanoid robot," in Proc. IEEE Int. Conf. Rob. Aut. (ICRA), Leuven, Belgium, 1998, pp. 1321-1326.
2. K. Nishiwaki, S. Kagami, J. Kuffner, M. Inaba, and H. Inoue, "Humanoid "JSK-H7": Research platform for autonomous behavior and whole body motion," in Proc. Int. Workshop Humanoid and human friendly Robotics (IARP), Tsukuba, Japan, 2002, pp. 2-9.
3. T. Ishida, Y. Kuroki, and J. Yamaguchi, "Mechanical system of a small biped entertainment robot," in Proc. IEEE/RSJ Int. Conf. Rob. Sys. (IROS), 2003, pp. 1129-1134.
4. K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki, M. Hirata, K. Akachi, and T. Isozumi, "Humanoid robot HRP-2," in Proc. IEEE Int. Conf. Rob. Aut. (ICRA), New Orleans, USA, 2004, pp. 1083-1090.
5. Y. Ogura, H. Aikawa, H.-O. Lim, and A. Takanishi, "Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist," in Proc. IEEE Int. Conf. Rob. Aut. (ICRA), 2004, pp. 134-139.
6. J.-Y Kim, I.-W. Park, J. Lee, M.-S. Kim, B.-K. Cho, and J.-H. Oh, "System design and dynamic walking of humanoid robot KHR-2," in Proc. IEEE Int. Conf. Rob. Aut. (ICRA), 2005, pp. 1443-1448.
7. Honda Motor Co., Ltd. (2005, Dec) New ASIMO - running at 6km/h. [Online]. Available: http://world.honda.com/HDTV/ASIMO/New-ASIMO-run-6kmh/
8. S. Kajita, T. Nagasaki, K. Kaneko, K. Yokoi, and K. Tanie, "A hop towards running humanoid biped," in Proc. IEEE Int. Conf. Rob. Aut. (ICRA), 2004, pp. 629-635.
9. F. Pfeiffer, K. Löffler, M. Gienger, and H. Ulbrich, "Sensor and control aspects of biped robot "Johnnie"," International Journal of Humanoid Robotics (IJHR), vol. 1, no. 3, pp. 481-496, 2004.
10. J. Perry, Gait Analysis - Normal and Pathological Function, 3rd ed. Thorofare, USA: Slack Inc., 1992.
11. M. Gienger, Entwurf und Realisierung einer zweibeinigen Laufmaschine, ser. Fortschrittberichte VDI, Reihe 1. Düsseldorf: VDI-Verlag, 2005, no. Nr. 378.
12. M. Gienger, K. Löffler, and F. Pfeiffer, "Towards the design of a biped jogging robot," in Proc. IEEE Int. Conf. Rob. Aut. (ICRA), Seoul, Korea, 2001, pp. 4140-4145.
13. T. Buschmann, S. Lohmeier, H. Ulbrich, and F. Pfeiffer, "Optimization based gait pattern generation for a biped robot," in Proc Int Conf Humanoid Robots (Humanoids), Tsukuba, Japan, 2005.
14. B. Espiau and P. Sardain, "The anthropomorphic biped robot BIP 2000," in Proc. IEEE Int. Conf. Rob. Aut. (ICRA), San Francisco, USA, 2000, pp. 3997-4002.
15. K. Nishiwaki, S. Kagami, Y. Kuniyoski, M. Inaba, and H. Inoue, "Toe joints that enhance bipedal and fullbody motion of humanoid robots," in Proc. IEEE Int. Conf. Rob. Aut. (ICRA), Washington, USA, 2002, pp. 3105-3110.
16. F. Pfeiffer, "Walking: Biological and technical aspects," in CISM Courses and Lectures (CISM 2004). Springer, 2004, vol. 467.
17. T. Buschmann, S. Lohmeier, H. Ulbrich, and F. Pfeiffer, "Modeling and simulation of a biped robot," in Proc. IEEE Int. Conf. Rob. Aut. (ICRA), Orlando, USA, 2006.
18. G. Zhang, "Speed control of two-inertia system by PI/PID control," IEEE Trans. Ind. Electron., vol. 47, no. 3, pp. 603-609, 2000.
19. A. Nagakubo, Y. Kuniyoshi, and G. Cheng, "ETL-humanoid-a high-performance full body humanoid system for versatile actions," in Proc. IEEE/RSJ Int. Conf. Rob. Sys. (IROS), 2001, pp. 1087-1092.
20. G. Hirzinger, N. Sporer, A. Albu-Schäffer, M. Hähnle, R. Krenn, A. Pascucci, and M. Schedl, "DLR's torque-controlled light weight robot III - are we reaching the technological limits now?" in Proc. IEEE Int. Conf. Rob. Aut. (ICRA), vol. 2, Washington, DC USA, 2002, pp. 1710-1716.
21. "Electrical equipment of industrial machines - serial data link for real-time communication between controls and drives," Oct. 2002, IEC/EN 61491.