Uploaded March 2019 | Updated September 2026, 8 hours ago

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This video shows several experiments of walking over unknown, uneven terrain with the biped robot LOLA. Three different methods for ground-force control are experimentally validated in early, late and partial contact situations. The methods are combined to a force-control scheme to allow for the traversal of highly uneven terrain without vision-based information.

Additional experiments for highly uneven terrain are available here: youtu.be/pmtKv8VEItY

A preprint of our paper describing the force-control scheme is available online:
mediatum.ub.tum.de/doc/1482152/1482152.pdf

For more information please see our project's website: mw.tum.de/en/am/research/current-projects/robotics/humanoid-robot-lola