Skip to main content
SpringerLink
Log in

Dynamics and Control of the Biped Robot Lola

  • Conference paper
  • First Online:
Multibody System Dynamics, Robotics and Control

Abstract

This paper gives an overview of the dynamics and control of the humanoid walking robot Lola. A brief analysis of the robot’s multibody dynamics motivates our approach to biped walking control. After a brief description of the robot Lola we outline the architecture of its hierarchical walking control system. We also present the real-time planning method for center of gravity trajectories and the model-based hybrid position/force control module that acts as a basis for the stabilizing walking controller.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Hirose M, Ogawa K (2006) Honda humanoid robots development. Phil Trans R Soc A 365:11–19

    Article  Google Scholar 

  2. Tajima R, Honda D, Suga K (2009) Fast running experiments involving a humanoid robot. In: IEEE international conference on robotics and automation, ICRA ’09, Kobe, Japan, May 2009, pp 1571–1576

    Google Scholar 

  3. BostonDynamics (2012/02/01) Company website for the petman robot. Online available: http://www.bostondynamics.com/robotpetman.html

  4. Kaneko K, Kanehiro F,Kajita S, Hirukawa H, Kawasaki T, Hirata M,Akachi K, Isozumi T (2004) Humanoid robot hrp-2. In: Proceedings ICRA ’04. 2004 I.E. international conference on robotics and automation, New Orleans, vol 2, Apr 2004, pp 1083–1090

    Google Scholar 

  5. Kaneko K, Harada K, Kanehiro F, Miyamori G, Akachi K (2008) Humanoid robot hrp-3. In: IEEE/RSJ international conference on intelligent robots and systems, IROS, Nice, France, Sep 2008, pp 2471–2478

    Google Scholar 

  6. Kaneko K, Kanehiro F, Morisawa M,Miura K, Nakaoka S, Kajita S (2009) Cybernetic human hrp-4c. In: Proceedings of the 9th IEEE-RAS international conference on humanoid robots, Humanoids, Paris, France, Dec 2009, pp 7–14

    Google Scholar 

  7. Ogura Y, Aikawa H, Shimomura K, Morishima A, ok Lim H, Takanishi A (2006) Development of a new humanoid robot wabian-2. In: Proceedings of IEEE international conference on robotics and automation, ICRA, Orlando, USA, May 2006, pp 76–81

    Google Scholar 

  8. Kim J-Y, Park I-W,Lee J, Kim M-S, Cho B-K, Oh J-H (2005) System design and dynamic walking of humanoid robot KHR-2. In: Proceedings of IEEE international conference on robotics and automation (ICRA), Barcelona, Spain, pp 1443–1448

    Google Scholar 

  9. Takenaka T, Matsumoto T, Yoshiike T (2009) Real time motion generation and control for biped robot –1st report: walking gait pattern generation–. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems (IROS), St. Louis, USA, Oct 2009, pp 1084–1091

    Google Scholar 

  10. Takenaka T, Matsumoto T, Yoshiike T, Shirokura S (2009) Real time motion generation and control for biped robot –2nd report: running gait pat tern generation–. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems (IROS), St. Louis, USA, Oct 2009, pp 1092–1099

    Google Scholar 

  11. Takenaka T, Matsumoto T, Yoshiike T, (2009) Real time motion generation and control for biped robot –3rd report: dynamics error compensation–. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems (IROS), St. Louis, USA, Oct 2009, pp 1594–1600

    Google Scholar 

  12. Takenaka T,. Matsumoto T, Yoshiike T, Hasegawa T, Shirokura S, Kaneko H, Orita A (2009) Real time motion generation and control for biped robot –4th report: integrated balance control–. In: Proceedings of IEEE/RSJ international conference intelligent robots and systems (IROS), St. Louis, USA, Oct 2009, pp 1601–1608

    Google Scholar 

  13. Website der honda motor corporation, new asimo, 2011. Online available: http://asimo.honda.com/asimotv/

  14. Buschmann T, Schwienbacher M, Favot V, Ewald A, Ulbrich H (2012) The biped walking robot lola hardware design and walking control. Journal of the Robotics Society of Japan, (to appear)

    Google Scholar 

  15. Lohmeier S, Buschmann T, Ulbrich H (2009) System design and control of anthropomorphic walking robot LOLA. IEEE/ASME Trans Mechatron 14(6):658–666

    Article  Google Scholar 

  16. Buschmann T, Favot V, Lohmeier S, Schwienbacher M, Ulbrich H, (2011) Experiments in fast biped walking. In: IEEE international conference on mechatronics (ICM), Istanbul, Turkey, Apr 2011, pp 863–868

    Google Scholar 

  17. Lohmeier S (2010) Design and realization of a performance enhanced humanoid robot. Ph.D. dissertation, Technische Universität München. Online available: http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20101126-980754-1-4

  18. Buschmann T (2010) Simulation and control of biped walking robots. Ph.D. dissertation, Technische Universität München. Online available: http://nbnresolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20101201-997204-1-6

  19. Pfeiffer F, Löffler K, Gienger M, Ulbrich H (2004) Sensor and control aspects of biped robot “Johnnie”. Int J Hum Robot (IJHR) 1(3):481–496

    Article  Google Scholar 

  20. Buschmann T, Lohmeier S, Schwienbacher M, Favot V, Ulbrich H, Hundelshausen FV, Rohe G, Wuensche H-J (2010) Walking in unknown environments– a step towards more autonomy. In: Proceedings of IEEE-RAS international conference on humanoid robotics (humanoids), Nashville, USA

    Google Scholar 

  21. Buschmann T, Lohmeier S, Bachmayer M, Ulbrich H, Pfeiffer F (2007) A collocation method for real-time walking pattern generation. In: Proceedings of the 7th IEEE-RAS international conference on humanoid robots, Pittsburgh, USA, pp 1–6

    Google Scholar 

  22. Russel R, Shampine L (1972) A collocation method for boundary value problems. Numer Math 19:1–28, Springer Verlag

    Article  MathSciNet  Google Scholar 

  23. Fujimoto Y, Kawamura A (1996) Proposal of biped walking control based on robust hybrid position/force control. In: Proceedings of IEEE international conference on robotics and automation, Minneapolis, USA. vol 3, Apr 1996, pp 2724–2730

    Google Scholar 

  24. Buschmann T, Lohmeier S, Ulbrich H (2009) Biped walking control based on hybrid position/force control. In: IEEE/RSJ international conference on intelligent robots and systems, 2009. IROS 2009, St. Louis, USA, Oct 2009, pp 3019–3024

    Google Scholar 

Download references

Acknowledgements

This work is supported by the “Deutsche Forschungsgemeinschaft” (grant UL-105/29 and UL-105/34-1).

Author information

Authors and Affiliations

  1. Institute of Applied Mechanics, Technische Universität München, Bolzmannstr. 15, Garching, 85747, Germany

    Thomas Buschmann, Valerio Favot, Markus Schwienbacher, Alexander Ewald & Heinz Ulbrich

Authors
  1. Thomas Buschmann
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Valerio Favot
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Markus Schwienbacher
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Alexander Ewald
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Heinz Ulbrich
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Thomas Buschmann .

Editor information

Editors and Affiliations

  1. Institute for Robotics, Johannes Kepler University Linz, Altenberger Straße 69, Linz, 4040, Austria

    Hubert Gattringer

  2. Linz Center of Mechatronics GmbH, Altenbergerstrasse 69, Linz, 4040, Austria

    Johannes Gerstmayr

Rights and permissions

Reprints and permissions

Copyright information

© 2013 Springer-Verlag Wien

About this paper

Cite this paper

Buschmann, T., Favot, V., Schwienbacher, M., Ewald, A., Ulbrich, H. (2013). Dynamics and Control of the Biped Robot Lola. In: Gattringer, H., Gerstmayr, J. (eds) Multibody System Dynamics, Robotics and Control. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1289-2_10

Download citation

  • DOI: https://doi.org/10.1007/978-3-7091-1289-2_10

  • Published:

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-7091-1288-5

  • Online ISBN: 978-3-7091-1289-2

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation