The sensor-controller network of the humanoid robot LOLA

This paper describes the control, communication and sensor network of the humanoid robot LOLA. A brief description of the complex decentralized electronic architecture will be given. A dedicated circuit board has been developed as decentralized computation device and sensor-controller interface. A detailed description of the hardware and software capabilities of the board is given. The implementation of the real-time communication network based on Sercos-III is described. Finally, a description of the control structure of LOLA is given.