Heinz Ulbrich

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The prototype of a gaze-controlled, head-mounted camera (EyeSeeCam) was developed that provides the functionality for fundamental studies on human gaze behavior even under dynamic conditions like locomotion. EyeSeeCam incorporates active visual exploration by saccades with image stabilization during head, object, and surround motion just as occurs in human(More)
The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Besides accurate and fast sensors, a powerful computer system is essential for the performance and stability of the machine. The control system requires hard real-time capabilities and low cycle times. With our new control concept and(More)
The paper presents the performance enhanced humanoid robot LOLA which is currently being manufactured. The goal of the project is the realization of a fast, human-like walking motion. The robot is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized(More)
Despite many recent developments in virtual reality, an effective locomotion interface which allows for normal walking through large virtual environments was until recently still lacking. Here, we describe the new CyberWalk omnidirectional treadmill system, which makes it possible for users to walk endlessly in any direction, while never leaving the(More)
This paper presents a new real-time walking pattern generator that calculates center of mass trajectories from footstep locations. Key features are the calculation of reference torque patterns by quadratic programming and the solution of the equations of motion by spline collocation. Fast real-time planning is combined with offline optimisation of free(More)
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(More)
Dynamics simulation is a valuable tool for biped robot hardware and controller design. Due to the complexity of biped walking robots, simulation times can be quite high. It is therefore important to identify the key components in modeling the system so that the phenomena of interest can be correctly predicted at a reasonable numerical cost. In this paper a(More)
The remote nature of telepresence scenarios can be seen as a strongpoint and also as a weakness. Although it enables the remote control of robots in dangerous or inaccessible environments, it necessarily involves some kind of communication mechanism for the transmission of control signals. This communication mechanism necessarily involves adverse network(More)
In this paper we present the humanoid robot LOLA, its mechatronic hardware design, simulation and real-time walking control. The goal of the LOLA-project is to build a machine capable of stable, autonomous, fast and human-like walking. LOLA is characterized by a redundant kinematic configuration with 7-DoF legs, an extremely lightweight design, joint(More)