Humanoid Robot LOLA - Walking Pattern Generation for Autonomous Multi-Contact Locomotion

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