Leg Mechanism of LOLA

Abstract

The mechatronic system of the robot Lola was developed from 2004 to 2010 at the Institute of Applied Mechanics, Technische Universität München, Germany. Weighing approximately 60 kg, Lola stands 180 cm tall and has 24 actuated degrees of freedom in a redundant configuration. The mechanical structure is characterized by the consistent lightweight design with high effective stiffness. The lightweight servo actuators combine high-dynamic brushless servo motors with precision gearings and sensors into a compact package. Moreover, the resultant inertia of the legs is minimized by a sophisticated design of the structure and drive mechanisms, resulting in a superior acceleration behavior. Lola’s sensor layout comprises angular sensors for direct measurement of the joint angles, a high-precision inertial measurement system, and force/torque sensors in the feet. The objective of this research was the development of a biped robot that is capable of fast, humanlike walking. Lola’s autonomy was improved by a close integration of visual perception and walking control. By using an improved trajectory generation and control system, walking as fast as 3.6 km/h was achieved.