Modular joint design for performance enhanced humanoid robot LOLA

@article{Lohmeier2006ModularJD,
  title={Modular joint design for performance enhanced humanoid robot LOLA},
  author={Sebastian Lohmeier and Thomas Buschmann and Heinz Ulbrich and Friedrich Pfeiffer},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  year={2006},
  pages={88-93}
}
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 joint controllers. The fusion of motor, gear and sensors into a highly integrated, mechatronic joint module has several advantages for the… CONTINUE READING
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