The Humanoid Robot Lola walks Outside

This video shows our humanoid robot Lola walking on asphalt, grass, and cobblestone. All motions were generated online and on board of the robot. The cable is needed for power supply as the robot doesn't have a battery yet. Lola is safeguarded by a safety harness - this rope is loose during walking. For this video, Lola was either operated by a human via a wireless controller or commanded simple objectives, e.g. "walk straight". The motion planner assumes a flat ground and the different ground properties are previously unknown to the robot's feedback control methods.