Development of the Humanoid Robot LOLA

2006 ◽  
Vol 5-6 ◽  
pp. 529-540 ◽  
Author(s):  
Heinz Ulbrich ◽  
T. Buschmann ◽  
S. Lohmeier
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Dynamic Performance ◽  
Hardware Design ◽  
Dynamics Simulation ◽  
Sensor Data ◽  
Knee Joints ◽  
Lightweight Construction ◽  
Walking Motion ◽  
And Control

This paper presents the performance enhanced humanoid robot LOLA which is currently being manufactured. Hardware design, controllers and simulation are based on ex- perience gained during the development of the robot JOHNNIE. The objective of the current research project is to realize a fast, human-like and autonomous walking motion. To enable an optimal design of the robot with respect to lightweight construction, motor and drive sizing, an appropriate simulation model is required. Dynamics simulation is a key tool to develop the hardware and control design properly. For hardware design and detailed dynamic analysis a comprehensive model including motor and gear dynamics is required, while for controller de- sign and stability analysis a simplified model for global system dynamics is sufficient. Both robots are characterized by a lightweight construction. In comparison to JOHNNIE, the new robot LOLA has a modular, multi-sensory joint design with brushless motors. Moreover, the previously purely central electronics architecture is replaced by a network of decentral joint controllers, sensor data acquisition and filtering units and a central PC. The fusion of motor, gear and sensors into a highly integrated mechatronic joint module has several advantages for the whole system, including high power density, good dynamic performance and reliability. Ad- ditional degrees of freedom are introduced in elbow, waist and toes. Linear actuators are used for the knee joints to achieve a better mass distribution in the legs.

LOLA – a Performance Enhanced Humanoid Robot (LOLA – ein leistungsgesteigerter humanoider Roboter)

2007 ◽  
Vol 49 (4) ◽  
Author(s):  
Thomas Buschmann ◽  
Sebastian Lohmeier ◽  
Kolja Kühnlenz ◽  
Martin Buss ◽  
Heinz Ulbrich ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Vision System ◽  
Humanoid Robots ◽  
Lightweight Construction ◽  
Brushless Motors ◽  
Multibody Model ◽  
Accurate Localization ◽  
6 Degrees Of Freedom ◽  
And Control

SummaryHumanoid robots are perfectly suited for service applications, since their human-like shape allows them to easily access environments designed for humans. This paper presents the performance enhanced humanoid robot LOLA. The goal of the project is to realize fast, human-like and vision-guided walking. LOLA's hardware is characterized by lightweight construction, modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Real-time walking control is realized by a hierarchical trajectory generation and control system. Hardware and control are designed using a comprehensive multibody model of the robot. LOLA is equipped with a novel multi-focal vision system with four cameras and 6 degrees-of-freedom. Multifocal situation-specific gaze control provides high perception quality, flexible reaction, and accurate localization and navigation in large and weakly structured environments.

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Samer Alfayad ◽  
Fethi B. Ouezdou ◽  
Faycal Namoun
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Power Transmission ◽  
Mechanical Design ◽  
Humanoid Robots ◽  
Classical Solutions ◽  
Kinematic Modeling ◽  
New Class ◽  
Hybrid Mechanism ◽  
And Control

This paper deals with the design of a new class of hybrid mechanism dedicated to humanoid robotics application. Since the designing and control of humanoid robots are still open questions, we propose the use of a new class of mechanisms in order to face several challenges that are mainly the compactness and the high power to mass ratio. Human ankle and wrist joints can be considered more compact with the highest power capacity and the lowest weight. The very important role played by these joints during locomotion or manipulation tasks makes their design and control essential to achieve a robust full size humanoid robot. The analysis of all existing humanoid robots shows that classical solutions (serial or parallel) leading to bulky and heavy structures are usually used. To face these drawbacks and get a slender humanoid robot, a novel three degrees of freedom hybrid mechanism achieved with serial and parallel substructures with a minimal number of moving parts is proposed. This hybrid mechanism that is able to achieve pitch, yaw, and roll movements can be actuated either hydraulically or electrically. For the parallel submechanism, the power transmission is achieved, thanks to cables, which allow the alignment of actuators along the shin or the forearm main axes. Hence, the proposed solution fulfills the requirements induced by both geometrical, power transmission, and biomechanics (range of motion) constraints. All stages including kinematic modeling, mechanical design, and experimentation using the HYDROïD humanoid robot’s ankle mechanism are given in order to demonstrate the novelty and the efficiency of the proposed solution.

Dynamic Modeling and Control Techniques for a Quadrotor

2015 ◽  
pp. 408-454
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

Design aspects and development of humanoid robot THBIP-2

Robotica ◽  
2008 ◽  
Vol 26 (1) ◽  
pp. 109-116 ◽  
Author(s):  
Zeyang Xia ◽  
Li Liu ◽  
Jing Xiong ◽  
Qiang Yi ◽  
Ken Chen
Keyword(s):  
Control System ◽  
Conceptual Design ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Tsinghua University ◽  
Sensing System ◽  
Actuation System ◽  
System Realization ◽  
Zero Moment ◽  
And Control

SUMMARYThis is the first publication presenting the minihumanoid robot THBIP-2, the second-generation biped of Tsinghua University. It is 70 cm in height and 18 kg in weight with 24 degrees of freedom. This paper mainly addresses its mechatronics system realization, including the conceptual design, actuation system, sensing system, and control system. In addition, a walking stability controller based on zero moment point criterion and the walking simulation are presented. Finally, experiments validate and confirm the efficiency of the design.

Hardware Design for State Vector Identification of a Small Helicopter Model

2013 ◽  
Vol 282 ◽  
pp. 107-115 ◽  
Author(s):  
Viliam Fedák ◽  
Ján Bačík
Keyword(s):  
Degrees Of Freedom ◽  
Sensory System ◽  
Hardware Design ◽  
Sensor Data ◽  
State Variables ◽  
Six Degrees Of Freedom ◽  
Long Term Stability ◽  
Helicopter Flight ◽  
Embedded Computer

The paper deals with hardware design for sensory system of a small helicopter model that is characterized by a long-term stability and in real time generates data about helicopter state variables during helicopter flight. The sensor system is based on powerful 32-bit processors with the cores ARM7 and Cortex-M3. The main unit for data processing presents an embedded computer built on a mini-ITX motherboard with processor Intel i3. As the helicopter presents a system with six degrees of freedom and in the fact, during the flight, there is not any fixed point that would enable to caliber the sensors placed on the helicopter board, for processing of sensor data complex stochastic calculations are necessary. They are based on the discrete Kalman filter that present a main computing tool of the control system.

Damaged-aircraft trailer dynamics simulation and vibration optimization

2019 ◽  
Vol 234 (1) ◽  
pp. 110-121
Author(s):  
Zhenyu Hong ◽  
Xiaoli Yu ◽  
Dongsheng Zhang ◽  
Zhenpeng He
Keyword(s):  
Hydraulic System ◽  
Degrees Of Freedom ◽  
Dynamic Performance ◽  
Dynamics Simulation ◽  
Physical Parameters ◽  
Vertical Acceleration ◽  
Damping Force ◽  
Maximum Acceleration ◽  
Secondary Damage ◽  
Stiffness And Damping

As a rescue vehicle, damaged-aircraft trailer is used to move damaged aircraft quickly to restore the normal order of the airport. Several damaged-aircraft trailer parameters such as tire stiffness and damping of the suspension hydraulic system influence the dynamic performance significantly. In this article, a simplified 9 degrees of freedom model of damaged-aircraft trailer is established considering the physical parameters of suspension and tires. The relationships among the parameters of the suspension hydraulic components, the elastic force and damping force are established, and then the optimization model of the whole vehicle is obtained. In order to reduce the secondary damage to the aircraft, the multi-island genetic algorithm is used to optimize the suspension system and tire. During the calculation, the maximum vertical acceleration of damaged-aircraft trailer is taken as objective function for variable parameters of the suspension hydraulic system and the tire. As a result, the performance of the vehicle is greatly improved with the maximum acceleration of 0.2 m/s2 after optimization.

Emotion-based biped walking

Robotica ◽  
2004 ◽  
Vol 22 (5) ◽  
pp. 577-586 ◽  
Author(s):  
Hun-ok Lim ◽  
Akinori Ishii ◽  
Atsuo Takanishi
Keyword(s):  
Motion Control ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
The Body ◽  
Body Motion ◽  
Whole Body ◽  
Emotional Expressions ◽  
Biped Walking ◽  
Walking Motion ◽  
Compensatory Motion

This paper describes emotion-based walking for a biped humanoid robot. In this paper, three emotions, such as happiness, sadness and anger are considered. These emotions are expressed by the walking styles of the biped humanoid robot that are preset by the parameterization of its whole body motion. To keep its balance during the emotional expressions, the motion of the trunk is employed which is calculated by the compensatory motion control based on the motions of the head, arms and legs. We have constructed a biped humanoid robot, WABIAB-RII (WAseda BIpedal humANoid robot-Revised II), to explore the issue of the emotional walking motion for a smooth and natural communication. WABIAN-RII has forty-three mechanical degrees of freedom and four passive degrees of freedom. Its height is about 1.84 m and its total weight is 127 kg. Using WABIAN-RII, three emotion expressions are experimented by the biped walking, including the body motion, and evaluated.

Reversibly Sampling Conformations and Binding Modes Using Molecular Darting

2020 ◽  
Author(s):  
Samuel C. Gill ◽  
David Mobley
Keyword(s):  
Monte Carlo ◽  
Ligand Binding ◽  
Binding Sites ◽  
Degrees Of Freedom ◽  
Dynamics Simulation ◽  
Hiv Integrase ◽  
Binding Modes ◽  
System A ◽  
Multiple Binding ◽  
Internal Degrees Of Freedom

<div>Sampling multiple binding modes of a ligand in a single molecular dynamics simulation is difficult. A given ligand may have many internal degrees of freedom, along with many different ways it might orient itself a binding site or across several binding sites, all of which might be separated by large energy barriers. We have developed a novel Monte Carlo move called Molecular Darting (MolDarting) to reversibly sample between predefined binding modes of a ligand. Here, we couple this with nonequilibrium candidate Monte Carlo (NCMC) to improve acceptance of moves.</div><div>We apply this technique to a simple dipeptide system, a ligand binding to T4 Lysozyme L99A, and ligand binding to HIV integrase in order to test this new method. We observe significant increases in acceptance compared to uniformly sampling the internal, and rotational/translational degrees of freedom in these systems.</div>

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