Dynamics and control of the biped robot lola

Thomas Buschmann, Valerio Favot, Markus Schwienbacher, Alexander Ewald, Heinz Ulbrich

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

7 Scopus citations


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.

Original languageEnglish
Title of host publicationMultibody System Dynamics, Robotics and Control
PublisherSpringer-Verlag Vienna
Number of pages13
ISBN (Electronic)9783709112892
ISBN (Print)9783709112885
StatePublished - 1 Jan 2013


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