Hybrid Position/Force Control for Biped Robot Stabilization with Integrated Center of Mass Dynamics @AppliedMechanicsTUM
Hybrid Position/Force Control for Biped Robot Stabilization with Integrated Center of Mass Dynamics @AppliedMechanicsTUM
Uploaded July 2017 | Updated September 2026, 2 hours ago
In this video we show the performance of a new force control approach for our humanoid LOLA. By using an explicit contact model and integrated CoM dynamics, we are able to walk from an unexpected platform of 5.5 cm height.

Check out our open source repositories!
github.com/am-lola

Check out our paper!
mediatum.ub.tum.de/node?id=1394924
Hybrid Position/Force Control for Biped Robot Stabilization with Integrated Center of Mass DynamicsLOLA v1.1 - An Upgrade in Hardware and Software Design for Dynamic Multi-Contact LocomotionTest Rig Levitating in Active Magnetic BearingsSpherical Cubic Blends: Smooth Trajectory Generation with Quaternions (Presentation)First Movements of LOLA, our Humanoid RobotVision System of Humanoid Robot LOLA: Platforms and Dynamic ObstaclesNonlinear Optimization-Based Path Length ImprovementHumanoid Robot LOLA - Balancing on Soft and Hard GroundHumanoid Robot LOLA detects obstacles with a Kinect-like sensorSix and eight -legged robots MAX and MORITZ - 2000Motion Planning Framework for Human-Centered EnvironmentsShape-memory finger
TUM Chair of Applied Mechanics |

Hybrid Position/Force Control for Biped Robot Stabilization with Integrated Center of Mass Dynamics

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