Abstract
The robots Johnnie and Lola were developed at the Institute of Applied Mechanics at the Technische Universität München (TUM) to research hardware design, dynamics, and control aspects of biped walking. Starting in 1998, biped walking research at the lab has been an active research area for almost 20 years. The development of both robots followed an iterative, model-driven approach, and both robots heavily rely on model-based control methods, an approach that was combined with a strong emphasis on an experimental investigation of the walking systems. Both robots feature innovative hardware designs and novel control algorithms and were used to achieve advances both in dynamic walking control and autonomous locomotion among obstacles.
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Buschmann, T., Gienger, M. (2019). Johnnie and LOLA: The TUM Bipeds. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_13
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DOI: https://doi.org/10.1007/978-94-007-6046-2_13
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