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Thread: LOLA, humanoid robot , Technische Universitat Munchen, Munich Germany

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    Humanoid Robot Lola at Hannover Fair 2010

    Uploaded on Jan 14, 2011

    At the Hannover Messe 2010 the humanoid robot Lola was presented to the public. Lightweight design, modern drive technology, a powerful sensor system, microelectronics and a dynamic walking control system enable stable biped locomotion. Two high-resolution cameras and an advanced image processing system give Lola the ability to navigate autonomously in an
    unknown environment. The robot has been developed at the Institute of Applied Mechanics (AM) at the Technische Universitat Munchen.

    At the Hannover Messe 2010, Lola is equipped with a vision system developed by the Institute for Autonomous Systems Technology (TAS) at the University of the Federal Armed Forces.

    The combination of vision system, mechatronics and control system gives the robot a high degree of autonomy.

    Lola was designed as an improved version of the humanoid robot Johnnie which was also developed at AM and presented to the public in 2001. Lola is 180 cm tall and weighs approximately 60 kg. As with Johnnie, Lola's proportions are derived from human anatomy.

    For the robot's development, a wide range of new ideas and technologies was realized. Additional actuated joints in toes, pelvis and arms are key to more stable, versatile and human-like walking. A hierarchical control system
    gives Lola the ability to walk in arbitrary directions like e.g. walking sideways to pass narrow points.

    The robot visually perceives its environment through two high-resolution video cameras each with 5 megapixels. The incoming image is partitioned into areas of dierent importance. The less interesting areas are only examined roughly while special attention is drawn to the crucial areas. That way, expensive calculations are only carried out in areas in which new information is needed. This new method of attention based object recognition allows for a detailed analysis of the observed objects while at the same time reducing computing time.

    At the Hannover Messe 2010, Lola navigates in an environment containing objects of every day use. The object layout can be varied by spectators and is therefore not known to the robot beforehand. In this scenario Lola will autonomously complete certain predened tasks.

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    First Movements of LOLA, our Humanoid Robot

    Published on Mar 25, 2015

    Initial experiments with Lola, hanging from the safety harness. Special focus on the joint actuators. 2009.

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    Humanoid Robot LOLA avoids falling down

    Published on Mar 25, 2015

    An Estimation Model for Footstep Modifications of Biped Robots. IROS 2014. Our Humanoid Robot "Lola" reacts to unknown external disturbances and modifies its footstep positions accordingly.

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    Humanoid Robot LOLA stepping on unmodelled obstacles

    Published on Mar 25, 2015

    Videos of our Humanoid Robot "Lola" stepping on unknown and unexpected obstacles, with no vision information. The gait phase is switched using the force/torque sensors on the ankles. 2011.

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    Development of Humanoid Robot LOLA

    Published on Mar 25, 2015

    Video showing the different aspects of the development of our latest Humanoid Robot, together with some of its first steps and accomplishments. 2012.

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    Humanoid Robot LOLA detects obstacles with a Kinect-like sensor and finds a way around them

    Published on Jul 21, 2015

    Our Humanoid Robot "Lola" uses an on-board Asus Xtion PRO LIVE rgbd sensor for detecting and approximating obstacles, and uses an A* algorithm to find a way around them in real-time. 2015.

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    Our Humanoid Robot LOLA approximates moving objects with a Kinect in complex environments

    Published on Jul 21, 2015

    Using a Kinect-like sensor, our Humanoid Robot "Lola" is able to detect, approximate and track moving objects for avoiding them. Our motion planning system uses simple geometries to check for collision-free paths.

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    Humanoid Robot LOLA walks while being punched and avoids falling down

    Published on Jul 21, 2015

    A non-linear prediction model for footstep modifications. Our Humanoid Robot "Lola" reacts to unknown external disturbances and modifies its footstep positions accordingly.

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    Robust and versatile bipedal walking in unknown environments

    Published on Jan 11, 2017

    In this video, we show the combination of our vision, motion planning and stability modules on our humanoid robot Lola. This framework achieves autonomous biped navigation in unknown environments from simple walking commands.
    Obstacles are modelled as one or more capsules. Then, the footsteps are planned by taking into account the obstacles' location and performing real-time 3D collision avoidance. While the robot is walking, its sensors watch out for un-modelled disturbances. To avoid falling down, footsteps locations are modified on-the-fly inside of collision-free regions.

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