4 accepted papers
Over the past decade we have been able to vastly improve the control algorithms of our biped walking robot LOLA. Further enhancements, however, are limited by vibration problems caused by the dynamics of LOLA's mechanical structure. In this work, we present small examples how structural dynamics lim…
Autonomous navigation in dynamic and unknown environments requires real-time path planning. Solving the path planning problem for bipedal locomotion quickly and robustly is one of the main challenges in making humanoid robots competitive against mobile platforms. In this letter, we propose strategie
Collision-free walking in cluttered environments is still an open issue for humanoids. Most current approaches use heuristics with large safety margins to plan the robot's motion. That way, the chance of collisions can be greatly reduced but the robot movements are artificially limited. In this cont
The exploitation of new fields of application in addition to traditional industrial production for robot manipulators (e.g. agriculture, human areas) requires extensions to the sensor as well as to the planning capabilities. Motion planning solely based on visual information performs poorly in clutt…