2006 · 108 citations · 18 references
Robot KinematicsEngineeringMechanical EngineeringModular Joint DesignHuman-like Walking MotionRehabilitation RoboticsKinesiologyLegged RobotKinematicsRehabilitation EngineeringHumanoid RobotHealth SciencesBrushless MotorsMechatronicsHumanoid Robot LolaBipedal LocomotionMechanical SystemsHuman MovementRoboticsHumanoid RoboticsActuators
The paper introduces LOLA, a performance‑enhanced humanoid robot currently under manufacture. The project aims to achieve fast, human‑like walking motion. LOLA’s lightweight construction features a modular, multi‑sensory joint design with brushless motors, decentralized joint controllers, added degrees of freedom at the elbow, waist, and toes, and linear actuators in the knees for better mass distribution. Integrating motors, gears, and sensors into a single mechatronic joint module improves power density, dynamic performance, and reliability.
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 whole system, including high power density, good dynamic performance and reliability. Additional degrees of freedom are introduced in elbow, waist and toes. Linear actuators are employed for the knee joints for a better mass distribution in the legs
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Gait Analysis: Normal and Pathological Function
Jacquelin Perry, Judith M. Burnfield · JAMA · 1992 · 3.9K citations · Full text
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