Germany · Research
Summary
TORO is DLR's torque-controlled humanoid research platform used to study bipedal locomotion, stair climbing, balance, multi-contact movement and whole-body dynamics.
Identity
Status
Research
Category
Humanoid
Type
Research humanoid
Function
Locomotion research
Audience
Robotics teams
Physical
HEIGHT
174cm
WEIGHT
76kg
PAYLOAD
10kg
Performance
DOF
39
RUNTIME
>1h
Systems
ACTUATION
based on KUKA-DLR Lightweight Robot arm drives
Capabilities
RESEARCH (18 Nov 2014) — Multi-contact balancing: paper describes TORO's mechanical design, sensors, electronics, computer hardware, walking strategy, and multi-contact balancing approach.
Height — ranked across 105 Humanoid platforms · this robot ranks #34
Weight — ranked across 88 Humanoid platforms · this robot ranks #13
Payload — ranked across 69 Humanoid platforms · this robot ranks #34
Degrees of freedom — ranked across 89 Humanoid platforms · this robot ranks #33
Comparable systems — same status tier
Context & Benchmark
Comparable systems: TALOS (PAL Robotics), Haribit (Haribit), SA01 (EngineAI), HUBO2 (Rainbow Robotics), MagicBot Z1 (MagicLab), E1 (Noetix Robotics). Related systems: H2 (Unitree), Lumos LUS 2 (Lumos Robotics), Booster T1 (Booster Robotics), Figure 03 (Figure AI), LimX Oli (LimX Dynamics), AI Sapiens K0 (Robotis).
Research
PAPER (18 Nov 2014) — 'DLR publishes overview paper for torque-controlled humanoid TORO': published at the 2014 IEEE-RAS International Conference on Humanoid Robots; describes mechanical design/sensors/electronics/computer hardware/walking strategy/multi-contact balancing; gives TORO a technical baseline for torque-controlled humanoid design, walking, and multi-contact balance.