This paper gives an overview of our recent work on humanoid robots and reviews central results. We have addressed the design of hardware and control systems suitable for fast and autonomous biped locomotion. In order to experimentally verify the proposed methods we have developed the biped robot Lola shown in Fig. 1. During the development we took a systems engineering approach, emphasizing the fact that control methods, sensor system, mechanical components and actuators must be designed as an integrated system in order to optimize the walking performance. There is a large body of related work on the design and control of walking machines. We have omitted a review here for the sake of brevity. Please refer to [1]～[6] for surveys of related research. The rest of this paper is organized as follows. Section 2 reviews the mechanical design, electronics architecture and sensor system. The architecture of the walking controller, the approach to trajectory generation, walking stabilization and redundancy resolution is described in Section 3. Some experimental results are shown in Section 4 and Section 5 concludes the paper.
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