Humanoid walking robot LOLA

Sebastian Lohmeier, Thomas Buschmann, Heinz Ulbrich, Friedrich Pfeiffer

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


This paper presents the performance enhanced humanoid robot LOLA. The goal of the project is the realization of a fast, human-like walking motion. The robot has 22 degrees of freedom, including 7-DoF legs with actively driven toe joints. It is characterized by its lightweight construction, a modular, multi-sensory joint design with AC servo motors and an electronics architecture using decentralized joint controllers. Special emphasis was paid on an improved mass distribution of the leg apparatus to achieve good dynamic performance. The sensor system comprises absolute angular sensors in all links, two custom-made force/torque sensors in the feet and a high-precision inertial sensor on the upper body. The trajectory generation and control system currently being developed aim at faster, more flexible, and more robust walking patterns.

Original languageEnglish
Title of host publicationROBOTIK 2008
Number of pages2
StatePublished - 2008
Externally publishedYes

Publication series

NameVDI Berichte
ISSN (Print)0083-5560


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