{"id":"https://openalex.org/W3207171807","doi":"https://doi.org/10.1109/humanoids47582.2021.9555790","title":"LOLA v1.1 \u2013 An Upgrade in Hardware and Software Design for Dynamic Multi-Contact Locomotion","display_name":"LOLA v1.1 \u2013 An Upgrade in Hardware and Software Design for Dynamic Multi-Contact Locomotion","publication_year":2021,"publication_date":"2021-07-19","ids":{"openalex":"https://openalex.org/W3207171807","doi":"https://doi.org/10.1109/humanoids47582.2021.9555790","mag":"3207171807"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids47582.2021.9555790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555790","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1632648","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020318217","display_name":"Philipp Seiwald","orcid":"https://orcid.org/0000-0001-9464-041X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Philipp Seiwald","raw_affiliation_strings":["Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028266324","display_name":"Shun-Cheng Wu","orcid":"https://orcid.org/0000-0002-6498-1579"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shun-Cheng Wu","raw_affiliation_strings":["Boltzmannstra\u00dfe 3, Technical University of Munich, Chair for Computer Aided Medical Procedures & Augmented Reality, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Boltzmannstra\u00dfe 3, Technical University of Munich, Chair for Computer Aided Medical Procedures & Augmented Reality, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059600661","display_name":"Felix Sygulla","orcid":"https://orcid.org/0000-0003-2509-8027"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Sygulla","raw_affiliation_strings":["Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001876642","display_name":"Tobias F. C. Berninger","orcid":"https://orcid.org/0000-0001-8074-770X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias F. C. Berninger","raw_affiliation_strings":["Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024174199","display_name":"Nora-Sophie Staufenberg","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nora-Sophie Staufenberg","raw_affiliation_strings":["Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034838687","display_name":"Moritz F. Sattler","orcid":"https://orcid.org/0000-0002-5525-9824"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz F. Sattler","raw_affiliation_strings":["Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034910869","display_name":"Nicolas Neuburger","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nicolas Neuburger","raw_affiliation_strings":["Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041955731","display_name":"Daniel J. Rixen","orcid":"https://orcid.org/0000-0002-2303-4292"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Rixen","raw_affiliation_strings":["Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Boltzmannstra\u00dfe 15, Technical University of Munich, Chair of Applied Mechanics, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041092666","display_name":"Federico Tombari","orcid":"https://orcid.org/0000-0001-5598-5212"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Federico Tombari","raw_affiliation_strings":["Boltzmannstra\u00dfe 3, Technical University of Munich, Chair for Computer Aided Medical Procedures & Augmented Reality, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Boltzmannstra\u00dfe 3, Technical University of Munich, Chair for Computer Aided Medical Procedures & Augmented Reality, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5020318217"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.8491,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.70140554,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9","last_page":"16"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.7066459059715271},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6735233068466187},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6412742733955383},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6097685694694519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5989122986793518},{"id":"https://openalex.org/keywords/upgrade","display_name":"Upgrade","score":0.5811238884925842},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5285990238189697},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.46013468503952026},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4341857433319092},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4141426980495453},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35983437299728394},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.32988274097442627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.133375883102417},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08963808417320251}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.7066459059715271},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6735233068466187},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6412742733955383},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6097685694694519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5989122986793518},{"id":"https://openalex.org/C2780615140","wikidata":"https://www.wikidata.org/wiki/Q920419","display_name":"Upgrade","level":2,"score":0.5811238884925842},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5285990238189697},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.46013468503952026},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4341857433319092},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4141426980495453},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35983437299728394},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.32988274097442627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.133375883102417},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08963808417320251},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids47582.2021.9555790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555790","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1632648","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1632648","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1632648","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1632648","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"ConferencePaper"},"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G7977167209","display_name":null,"funder_award_id":"407378162","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W38125885","https://openalex.org/W611205441","https://openalex.org/W1573307335","https://openalex.org/W1588834047","https://openalex.org/W1972588742","https://openalex.org/W1975738862","https://openalex.org/W1987648924","https://openalex.org/W1994344693","https://openalex.org/W2013708313","https://openalex.org/W2037729465","https://openalex.org/W2049410986","https://openalex.org/W2053036469","https://openalex.org/W2065906272","https://openalex.org/W2071906076","https://openalex.org/W2073764547","https://openalex.org/W2080243374","https://openalex.org/W2084567997","https://openalex.org/W2095143145","https://openalex.org/W2095936366","https://openalex.org/W2133844819","https://openalex.org/W2139086916","https://openalex.org/W2154355760","https://openalex.org/W2162488100","https://openalex.org/W2165739402","https://openalex.org/W2229412420","https://openalex.org/W2250172176","https://openalex.org/W2546210067","https://openalex.org/W2563860407","https://openalex.org/W2564178275","https://openalex.org/W2568459965","https://openalex.org/W2570803316","https://openalex.org/W2586277234","https://openalex.org/W2624341934","https://openalex.org/W2741658264","https://openalex.org/W2745350555","https://openalex.org/W2745553815","https://openalex.org/W2747670665","https://openalex.org/W2752943420","https://openalex.org/W2774394625","https://openalex.org/W2784067459","https://openalex.org/W2784112303","https://openalex.org/W2784165308","https://openalex.org/W2791313415","https://openalex.org/W2808543558","https://openalex.org/W2892340150","https://openalex.org/W2913851223","https://openalex.org/W2914734204","https://openalex.org/W2917458256","https://openalex.org/W2963037989","https://openalex.org/W3002979680","https://openalex.org/W3012078730","https://openalex.org/W3089603279","https://openalex.org/W3128498749","https://openalex.org/W3209045487","https://openalex.org/W4233857083","https://openalex.org/W6601602748","https://openalex.org/W6635191027","https://openalex.org/W6742137223","https://openalex.org/W6748019938","https://openalex.org/W6790204903","https://openalex.org/W6802801199"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2058088690","https://openalex.org/W2086597735","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"recent":[3],"and":[4,7,38,58,132,141],"ongoing":[5],"hardware":[6,137],"software":[8,120,144],"upgrades":[9],"to":[10,21,118],"our":[11,119],"humanoid":[12],"robot":[13],"LOLA.":[14],"The":[15,43,72],"purpose":[16],"of":[17,46,65,75,85,103,127,150],"these":[18],"modifications":[19],"is":[20,78,100,139,146,153],"achieve":[22],"dynamic":[23],"multi-contact":[24,111],"locomotion,":[25],"i.":[26],"e.,":[27],"fast":[28],"bipedal":[29],"walking":[30],"with":[31,52,62,82],"additional":[32,63],"hand-environment":[33],"support":[34],"for":[35,80,106],"increased":[36],"stability":[37],"robustness":[39],"against":[40],"unforeseen":[41],"disturbances.":[42],"upper":[44],"body":[45],"LOLA":[47],"has":[48],"been":[49],"completely":[50],"redesigned":[51],"an":[53,86],"enhanced":[54],"lightweight":[55],"torso":[56,77],"frame":[57],"more":[59],"robust":[60],"arms":[61],"degrees":[64],"freedom,":[66],"which":[67,122],"extend":[68],"the":[69,76,83,92,96,101,128,136,142,148],"reachable":[70],"workspace.":[71],"mechanical":[73],"structure":[74],"optimized":[79],"stiffness":[81],"help":[84],"experimental":[87],"modal":[88],"analysis":[89],"performed":[90],"on":[91],"real":[93],"hardware,":[94],"while":[95],"new":[97],"arm":[98],"topology":[99],"result":[102],"kinematic":[104],"optimization":[105],"typical":[107],"use-cases":[108],"in":[109,156],"a":[110,124],"setting.":[112],"We":[113],"also":[114],"propose":[115],"extensive":[116],"changes":[117],"framework,":[121],"include":[123],"complete":[125],"redesign":[126],"onboard,":[129],"real-time":[130],"perception":[131],"navigation":[133],"module.":[134],"Although":[135],"upgrade":[138],"finished":[140],"overall":[143],"design":[145],"complete,":[147],"implementation":[149],"various":[151],"modules":[152],"still":[154],"work":[155],"progress.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}