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Updated: Jun 21, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Humanoid robot Lola: design and walking control.

Thomas Buschmann¹, Sebastian Lohmeier, Heinz Ulbrich

¹Institute of Applied Mechanics, Technical University Munich, Garching, Germany. buschmann@amm.mw.tum.de

Journal of Physiology, Paris

|August 12, 2009

Summary

The humanoid robot LOLA achieves stable, autonomous, and human-like walking through advanced mechatronic design and real-time control. Its lightweight, 7-DoF leg system and optimized mass distribution enable dynamic performance and robust locomotion.

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Area of Science:

Robotics
Mechatronics
Control Systems

Background:

Developing humanoid robots capable of stable and human-like walking is a significant challenge in robotics.
Existing systems often struggle with dynamic performance, robustness, and speed.

Purpose of the Study:

To present the humanoid robot LOLA, detailing its mechatronic hardware design, simulation, and real-time walking control.
To achieve stable, autonomous, fast, and human-like walking capabilities in a robotic platform.

Main Methods:

Redundant kinematic configuration with 7-DoF legs and lightweight design.
Decentralized joint control architecture with brushless motor actuators.
Real-time Center of Mass (CoM) trajectory generation using quadratic programming and spline collocation.
Hybrid position/force control in task space with inner joint position control loop for stabilization.

Main Results:

LOLA features an optimized mass distribution in its legs for enhanced dynamic performance.
The control system enables faster, more flexible, and robust walking.
Inertial stabilization is achieved by modifying contact force trajectories.

Conclusions:

The presented mechatronic design and control strategies enable the humanoid robot LOLA to achieve human-like walking.
LOLA's architecture and control methods offer a promising approach for advanced robotic locomotion.