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Lola

Details

Lola is an advanced humanoid robot used in research on legged locomotion. It is a versatile, robust platform designed to demonstrate fast bipedal walking. The robot is mainly funded by the German Research Foundation (DFG).

Creator
Technical University of Munich (TUM)
Country
Germany 🇩🇪
Year
2010
Type
Humanoids, Research
Country
Germany 🇩🇪
Year
2010
Type
Humanoids, Research

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Specs

FEATURES
Full-sized humanoid with lightweight design. Robust to unexpected uneven and soft terrain. Can use hands for additional support.
HEIGHT
176 cm | 69.3 in
LENGTH
43 cm | 17 in
WIDTH
65 cm | 25.6 in
WEIGHT
68 kg | 150 lb
SPEED
3.38 km/h | 2.1 mph 3.38 km/h (biped); 1.8 km/h (uneven terrain with or without additional hand contacts)

SENSORS
Torso with iMAR iVRU-FC-C167 IMU. Feet with custom force-torque sensor. Hands with Schunk FTE-Axia80 force-torque sensor. Head with Intel RealSense T265 and D435 cameras. Joints with incremental (motor side) and absolute (link side) encoders.
ACTUATORS
Custom design with brushless DC motors and harmonic drive gears. Parallel kinematics in legs. Up to 380 Nm torque (knee joint with roller screw mechanism).
POWER
24-V and 80-V circuit (external supply)
COMPUTING
Two mini-ITX industrial boards each with Intel Core i7-8700 (6x3.2 GHz) CPU and 32 GB DDR4 RAM; Nvidia Quadro P2000 GPU; ELMO servo controllers for each joint; EtherCAT communication bus.
SOFTWARE
QNX Neutrino RTOS 7.0 for control; Ubuntu 20.04 for computer vision; broccoli (https://gitlab.lrz.de/AM/broccoli).
DEGREES OF FREEDOM (DOF)
26 (Head: 2 DoF; Arm: 4 DoF x 2; Pelvis: 2 DoF; Leg: 7 DoF x 2)
MATERIALS
Aluminum, 3D printed titanium, stainless steel.
COST
N/A
STATUS
Ongoing
WEBSITE
https://www.mw.tum.de/en/am/research/current-projects/robotics/humanoid-robot-lola/