Humanoid Robot LOLA Dynamic Multi Contact Locomotion

This video shows our humanoid robot LOLA performing various multicontact maneuvers. The robot is technically blind, not using any camerabased input. For these experiments the navigation module is disabled, thus the foothold positions and hand contact points are manually set according to the current environment setup. However, disturbances (pushing, uneven terrain, rolling board) are not known to the robot and are compensated by our online stabilization methods. Note that ALL algorithms run in realtime and onboard. The robot s joints are positioncontrolled. Technical Details: Walking speed: up to 0. 5 m, s 1. 8 km, h (depends on maneuver) Runtime of walking pattern generation (once): (30ms for of motion in most complex scenario realtimefactor 600 ) Runtime of stabilization and inverse kinematics (cyclic 1kHz): 350us (mean) For more information on LOLA please see our project s website: This work is supported by