Abstract
This paper presents our new 25-DoF humanoid walking robot LOLA. The goal of our research is to realize a fast, human-like walking motion (target speed: 5 km/h). Furthermore, we want to increase the robot's autonomous, vision-guided walking capabilities. The robot has 25 degrees of freedom, including 7-DoF legs with actively driven toe joints. It is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Special emphasis was put on an improved mass distribution of the leg apparatus to achieve good dynamic performance. The sensor system comprises absolute angular sensors in all links, two custom-made force/torque sensors in the feet and a high-precision inertial sensor in the upper body. Trajectory generation and control system aim at faster, more flexible, and more robust walking patterns.
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