Lola

A humanoid bipedal robot with exposed electronics and a head consisting of two stacked rectangles with cameras and sensors.
Lola is ready for a walk. Photo: Technical University of Munich

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 Munich (TUM)

Year
2010
Country
Germany 🇩🇪
Categories
Features
A spinning view of a humanoid bipedal robot with exposed electronics and a head consisting of two stacked rectangles with cameras and sensors.
Interactive
See a 360° view of Lola. Photos: Technical University of Munich

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Did you know?

Lola is named after the German experimental thriller film "Run Lola Run."

Three views of a humanoid robot show it in simulation, prototype and final robot.
From simulation to real robot. Photo: Technical University of Munich
Lola demonstrates its walking abilities. Video: Technical University of Munich

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Specs

Overview

Full-sized humanoid with lightweight design. Robust to unexpected uneven and soft terrain. Can use hands for additional support.

Status

Ongoing

Year

2010

Website
Width
65 cm
Height
176 cm
Length
43 cm
Weight
68 kg
Speed
3.38 km/h
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).

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.

Compute

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).

Power

24-V and 80-V circuit (external supply)