A novel application of direct force control to perform in-vitro biomechanical tests using robotic technology.

This paper presents a novel application of direct force control to test biological specimens using a serial manipulator with 6 degrees of freedom Direct force control compares actual force/moment values with desired values of load. The error is compensated by a proportional/integral controller (PI), a damping factor implemented with the velocity of the robot and acting in the direction of the force and a feedforward compensation. The controller works with a frequency of 0.

Humanoid robot Lola: design and walking control.

In this paper we present the humanoid robot LOLA, its mechatronic hardware design, simulation and real-time walking control. The goal of the LOLA-project is to build a machine capable of stable, autonomous, fast and human-like walking. LOLA is characterized by a redundant kinematic configuration with 7-DoF legs, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control.

EyeSeeCam: an eye movement-driven head camera for the examination of natural visual exploration.

The prototype of a gaze-controlled, head-mounted camera (EyeSeeCam) was developed that provides the functionality for fundamental studies on human gaze behavior even under dynamic conditions like locomotion. EyeSeeCam incorporates active visual exploration by saccades with image stabilization during head, object, and surround motion just as occurs in human ocular motor control. This prototype is a first attempt to combine free user mobility with image stabilization and unrestricted exploration of the visual surround in a man-made technical vision system.