Abstract
The mechatronic system of the robot Lola was developed from 2004 to 2010 at the Institute of Applied Mechanics, Technische Universität München, Germany. Weighing approximately 60 kg, Lola stands 180 cm tall and has 24 actuated degrees of freedom in a redundant configuration. The mechanical structure is characterized by the consistent lightweight design with high effective stiffness. The lightweight servo actuators combine high-dynamic brushless servo motors with precision gearings and sensors into a compact package. Moreover, the resultant inertia of the legs is minimized by a sophisticated design of the structure and drive mechanisms, resulting in a superior acceleration behavior. Lola’s sensor layout comprises angular sensors for direct measurement of the joint angles, a high-precision inertial measurement system, and force/torque sensors in the feet. The objective of this research was the development of a biped robot that is capable of fast, humanlike walking. Lola’s autonomy was improved by a close integration of visual perception and walking control. By using an improved trajectory generation and control system, walking as fast as 3.6 km/h was achieved.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
S. Lohmeier, Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion (Verlag Dr. Hut, München, 2010)
D.C. Kerrigan, U.D. Croce, M. Marciello, P.O. Riley, A refined view of the major determinants of gait: significance of heel rise. Arch. Phys. Med. Rehabil. 81(8), 1077–1080 (2000)
K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, H. Inoue, Toe Joints that Enhance Bipedal and Fullbody Motion of Humanoid Robots, in Proceedings of the IEEE International Conference Robotics and Automation (ICRA), 2002, pp. 3105–3110
R. Tajima, D. Honda, K. Suga, Fast Running Experiments Involving a Humanoid Robot, in Proceedings of the IEEE International Conference Robotics and Automation (ICRA), 2009, pp. 1571–1576
M. Gienger, Entwurf und Realisierung einer zweibeinigen Laufmaschine, Fortschrittberichte VDI, Reihe 1, vol 378 (VDI-Verlag, Düsseldorf, 2005)
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, H. Hirukawa, A Realtime Pattern Generator for Biped Walking, in Proceedings of the IEEE International Conference Robotics and Automation (ICRA), 2002, pp. 31–37
S. Lohmeier, T. Buschmann, M. Schwienbacher, H. Ulbrich, F. Pfeiffer, Leg Design for a Humanoid Walking Robot, in Proceedings of the IEEE-RAS International Conference Humanoid Robots (Humanoids), 2006, pp. 536–541
T. Buschmann, S. Lohmeier, M. Bachmayer, H. Ulbrich, F. Pfeiffer, A Collocation Method for Real-Time Walking Pattern Generation, in Proceedings of the IEEE-RAS Inernational Conference Humanoid Robot. (Humanoids), 2007
J. Perry, Gait Analysis – Normal and Pathological Function, 3rd edn. (Slack, Thorofare, 1992)
T. Buschmann, S. Lohmeier, H. Ulbrich, F. Pfeiffer, Dynamics Simulation for a Biped Robot: Modeling and Experimental Verification, in Proceedings of the IEEE International Conference Robotics and Automation (ICRA), 2006, pp. 2673–2678
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature B.V.
About this entry
Cite this entry
Lohmeier, S. (2019). Leg Mechanism of LOLA. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_80
Download citation
DOI: https://doi.org/10.1007/978-94-007-6046-2_80
Published:
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-6045-5
Online ISBN: 978-94-007-6046-2
eBook Packages: Intelligent Technologies and RoboticsReference Module Computer Science and Engineering