Uploaded January 2022 | Updated September 2026, 1 hour ago

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In this video we explain how LOLA's walking pattern generation (=motion planning) for multi-contact locomotion (=additional hand support) works. Moreover, a series of benchmark simulations is shown. The video is divided into the following sections:

00:00 Motivation
00:36 Overview LOLA
01:16 Phase 1: Environment Model Processing
01:54 Phase 2: Contact Planning
04:02 Phase 3: Motion Generation
06:05 Multi-Contact Configurations
06:46 Scenario: Right Wall
07:08 Scenario: Right Table
07:31 Scenario: Corridor
07:54 Scenario: Obstacles
08:27 Scenario: Ramps
08:53 Scenario: Stairs - Full
09:20 Scenario: Stairs - Partial
09:49 Scenario: Trap
10:28 Scenario: Dynamic Replanning - Abort
10:47 Scenario: Dynamic Replanning - Update

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

This work is supported by the German Research Foundation (DFG, project number 407378162).