Dynamics and control of the biped robot lola

This paper gives an overview of the dynamics and control of the humanoid walking robot Lola. A brief analysis of the robot’s multibody dynamics motivates our approach to biped walking control. After a brief description of the robot Lola we outline the architecture of its hierarchical walking control system. We also present the real-time planning method for center of gravity trajectories and the model-based hybrid position/force control module that acts as a basis for the stabilizing walking controller.