Dynamics and Control of the Biped Robot Lola

Buschmann, Thomas; Favot, Valerio; Schwienbacher, Markus; Ewald, Alexander; Ulbrich, H.

doi:10.1007/978-3-7091-1289-2_10

Cited by 8 publications

(4 citation statements)

References 18 publications

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“…The main development course of the bipedal robot is shown in Table 1 and Figure 1. [36]; (f) was reproduced with permission from [37], Copyright Springer, 1997; (h) was reproduced with [36]; (f) was reproduced with permission from [37], Copyright Springer, 1997; (h) was reproduced with permission from [38], Copyright Elsevier, 2004; (n) was reproduced with permission from [39], Copyright Springer, 2014; (o) was reproduced with permission from [40], Copyright Springer, 2013).…”

Section: Introductionmentioning

confidence: 99%

State of the Art: Bipedal Robots for Lower Limb Rehabilitation

Yang

She

et al. 2017

Applied Sciences

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Abstract:The bipedal robot is one of the most attractive robots types given its similarity to the locomotion of human beings and its ability to assist people to walk during rehabilitation. This review summarizes the chronological historical development of bipedal robots and introduces some current popular bipedal robots age. Then, the basic theory-stability control and key technology-motion planning of bipedal robots are introduced and analyzed. Bipedal robots have a wide range of applications in the service, education, entertainment, and other industries. After that, we specifically discuss the applications of bipedal robots in lower limb rehabilitation, including wearable exoskeleton robots, rehabilitation equipment, soft exoskeleton robots, and unpowered exoskeleton robots, and their control methods. Lastly, the future development and the challenges in this field are discussed.

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Section: Introductionmentioning

confidence: 99%

State of the Art: Bipedal Robots for Lower Limb Rehabilitation

Yang

She

et al. 2017

Applied Sciences

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“…Some other versions are planned to be mounted to measure the distance left foot -right foot, useful in the control to annoyed the backlash in the hip and ankles. We plan to study with geometrical simulation what are the best configurations, which is a complex problem [30]. Finally, we plan to use the sensor data in a closed loop configuration of the robot to improve the confidence in the motion of the walking stride, and improve the robustness of the walking process, even in perturbed terrain where cautious behaviours have to be implemented.…”

Section: Discussionmentioning

confidence: 99%

“…Photograph of the ROBIAN humanoid robot (only bottom part of the body) with both emitter and receiver adapted respectively on the pelvis and the right foot. ROBIAN has been built in the laboratory since many years and is used to test mechanical behaviors of the walk with control laws and sensors implementation [28]- [30]. and is programmed for a saw tooth motion.…”

Section: A Evaluation Of the Sensor Performancesmentioning

confidence: 99%

“…Moreover, even in a dynamic case, another important point is that we want to obtain relative positioning of one part with regard to another; inertial sensors, mounted on one part of the robot, give absolute (and not relative) data with regard to a fix reference frame. To our knowledge, the main humanoid robots that embed a lot of sensors (ASIMO [23], HRP2 [24], HRP3 [25], HRP4 [26], JOHNNIE [17], M2V2 [27], CB [28] PETMAN [29], LOLA [30] and NAO [31] robots, for example) do not use relative position and orientation measurements of their own limbs by triangulation process. Generally speaking, they use either encoders associated with inverse kinematics of the legs, or inertial systems that measure absolute motions and sophisticated sensor fusion algorithms.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Ultrasonic Sensor Triangulation for Accurate 3D Relative Positioning of Humanoid Robot Feet

Chassagne¹,

Bruneau

Bialek

et al. 2015

IEEE Sensors J.

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A simple measurement system with a set of six ultrasonic piezoelectric transducers is presented for direct 3D positioning of humanoid robot limbs. A configuration with three emitters and three receivers leads to millimetric estimation of the distances. Millimetric resolution achievement over 70 cm range is aimed with high angular tolerance in order to mount the sensor on a humanoid robot. Sampling frequency up to 60 Hz is obtained. The sensor is then used to estimate relative positions and orientations in the space of each foot of the robot with regard to the pelvis. The principle and experimental performances of the sensor are presented in the first part with uncertainty estimations and discussions. In the second phase, the sensor has been setup on the ROBIAN humanoid robot to illustrate an application case and test the performances. Index Terms-Ultrasonic sensor, 3D positioning, sensor for humanoid robots. 1530-437X is currently pursuing the master's degree from the University of Technology of Compiègne, Compiègne, France. His main field of interests was focused on mechatronics and mechanics. He spent his internship with the Laboratoire d'Ingénierie des Systèmes de Versailles, Versailles, France, on the ROBIAN enhancement and the development of the sensor. Clément Falguière is currently pursuing the master's degree from the University of Technology of Compiègne, Compiègne, France. His main field of interests was focused on mechatronics and mechanics. He spent his internship with the Laboratoire d'Ingénierie des Systèmes de Versailles, Versailles, France, on the ROBIAN enhancement and the development of the sensor.

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Kognitive Robotik

Witte¹

2018

Ausgewählte Themen Der Sportmotorik Für Das Weiterführende Studium (Band 2)

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Dynamics and Control of the Biped Robot Lola

Cited by 8 publications

References 18 publications

State of the Art: Bipedal Robots for Lower Limb Rehabilitation

State of the Art: Bipedal Robots for Lower Limb Rehabilitation

Ultrasonic Sensor Triangulation for Accurate 3D Relative Positioning of Humanoid Robot Feet

Kognitive Robotik

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