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Thread: LOLA, humanoid robot , Technische Universitat Munchen, Munich Germany

  1. #11


    Film of LOLA (2010)

    Published on Jan 12, 2017

    Fast, robust and autonomous walking: demonstrating the initial capabilities of our Humanoid Robot "Lola".

  2. #12


    Humanoid Robot LOLA walks over an unexpected platform

    Published on Jan 14, 2017

    Vision-Based Autonomous Walking over Platforms or Stairs.
    - Our vision system uses a kinect-like sensor to model the environment: surfaces (including the ground) are modelled as polygons and obstacles as SSV's (swept-sphere volumes).
    - Our motion planning system uses a modified A* search algorithm to find footsteps locations on walkable surfaces and each step's parameters are optimized to account for kinematic capabilities.
    Everything is running in real-time

  3. #13


    DFG project final presentation: versatile and robust walking in uneven terrain

    Published on Jan 18, 2017

    After the completion of the DFG Project "Flexibles und robustes Gehen in unebenem Gelande", the LOLA-Team made a small workshop, with live demo included:
    - fast walking
    - joystick navigation
    - vision-based, real-time navigation in presence of obstacles and unknown disturbances
    - vision-based, real-time navigation over platform
    - stability under external disturbances

  4. #14


    Humanoid Robot LOLA navigates towards a goal among moving obstacles

    Published on Feb 14, 2017

    In this video, we show an extended path planner for our humanoid robot LOLA.
    First, 2D safe paths are generated, avoiding large obstacles which cannot be traversed. Then, the A* planner finds a safe way along those paths, taking care of stepping over obstacles.
    The system is able to react to unknown dynamic environments, like a person walking in front of the robot.

  5. #15


    Development of humanoid robot LOLA

    Published on Mar 25, 2015

    Video showing the different aspects of the development of our latest Humanoid Robot, together with some of its first steps and accomplishments. 2012.

  6. #16


    Vision system of humanoid robot LOLA: Platforms and dynamic obstacles

    Published on Oct 23, 2017

    In this video, we test the capabilities of our Vision System and Motion Planning System, by letting the robot walk in previously unknown dynamic environments. The vision system approximates "walkable" surfaces as polygons and obstacles as capsules or spheres and the motion planning finds safe paths in real-time.

  7. #17


    Robot LOLA autonomous walking compilation + HoloLens Mixed Reality App

    Published on Oct 29, 2017

    In this video we show a compilation of our research for the last 4 years on autonomous navigation of bipedal robots.

    It is part of the DFG-founded project "Versatile and Robust Walking in Uneven Terrain" (German Research Foundation) and includes development in environment perception and modeling, motion planning and stability control.

    Additionally, we give a sneak peak of our HoloLens Mixed Reality App, "HoLola" which will be published soon!

  8. #18


    Development of humanoid robot LOLA

    Published on Dec 7, 2018

    A performance enhanced humanoid that features a modular, multisensory joint design with brushless motors.

    The electronics architecture is designed as an intelligent sensor-actuator network with a central controller. The new decentral components increase the system’s performance from a technological point of view. Additional DoFs are introduced to allow for more flexible and natural motions. The trajectory generation and control system is currently being developed, aiming for faster, more flexible and more robust walking patterns.

  9. #19


    A force control scheme for biped robots to walk over uneven terrain including partial footholds

    Published on Mar 21, 2019

    This video shows several experiments of walking over unknown, uneven terrain with the biped robot LOLA. Three different methods for ground-force control are experimentally validated in early, late and partial contact situations. The methods are combined to a force-control scheme to allow for the traversal of highly uneven terrain without vision-based information.


    The humanoid robot LOLA walks over uneven terrain without using visual information

    Published on Mar 21, 2019

    This video shows how the humanoid robot LOLA walks over uneven terrain without using any vision-based information. This reactive robustness to unknown terrain is achieved by a ground-force control scheme that handles ground-height variations and unplanned partial footholds with the environment.

  10. #20


    The humanoid robot Lola walks outside

    Published on May 24, 2019

    This video shows our humanoid robot Lola walking on asphalt, grass, and cobblestone. All motions were generated online and on board of the robot. The cable is needed for power supply as the robot doesn't have a battery yet. Lola is safeguarded by a safety harness - this rope is loose during walking.

    For this video, Lola was either operated by a human via a wireless controller or commanded simple objectives, e.g. "walk straight". The motion planner assumes a flat ground and the different ground properties are previously unknown to the robot's feedback control methods.

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