Motion Control of the Humanoid Robot AILA

Dennis Mronga; Achint Aggarwal

Robotics Innovation Center Bremen, DFKI Research Reports (RR), Vol. 13-03, 5/2013.


This technical report describes ongoing work regarding motion control of the humanoid robot AILA. Recently, software components for motion control and planning, sensor based control, telemanipulation and task level control have been developed for the system. This paper gives an overview on algorithms, methods and control structures used, demonstrates their feasibility by the means of experimental results and summarizes the remaining issues and shortcomings.

Motion_Control_of_the_Humanoid_Robot_AILA.pdf (pdf, 10 MB )

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence