Motion Control of the Humanoid Robot AILA
Dennis Mronga, Achint Aggarwal
series DFKI Research Reports, volume 13-03, pages 24, May/2013. Robotics Innovation Center Bremen.
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.