Entwurf und regelung des humanoiden laufroboters lola

This paper describes the mechatronic design and walking control of the humanoid robot Lola. The robot is characterized by a redundant kinematic configuration, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution to achieve good dynamic performance. Reference trajectories are generated in real-time and modified by a stabilizing control system based on hybrid force/position control with an inner joint position control loop. The control system enables fast walking as well as on-line modification of walking direction and walking speed required for autonomous locomotion.