LOLA v1.1 - An Upgrade in Hardware and Software Design for Dynamic Multi-Contact Locomotion. - Philipp Seiwald; Shun-Cheng Wu; Felix Sygulla; Tobias F. C. Berninger; Nora-Sophie Staufenberg; Moritz F. Sattler; Nicolas Neuburger; Daniel Rixen; Federico Tombari (HUMANOIDS, 2021)