Overview of the torque-controlled humanoid robot TORO

Englsberger, Johannes and Werner, Alexander and Ott, Christian and Henze, Bernd and Roa, Maximo A. and Garofalo, Gianluca and Burger, Robert and Beyer, Alexander and Eiberger, Oliver and Schmid, Korbinian and Albu-Schäffer, Alin (2014) Overview of the torque-controlled humanoid robot TORO. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots 2014, Madrid, Spanien.

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Abstract

This paper gives an overview on the torquecontrolled humanoid robot TORO, which has evolved from the former DLR Biped. In particular, we describe its mechanical design and dimensioning, its sensors, electronics and computer hardware. Additionally, we give a short introduction to the walking and multi-contact balancing strategies used for TORO.

Item URL in elib:

https://elib.dlr.de/94529/

Document Type:

Conference or Workshop Item (Poster)

Title:

Overview of the torque-controlled humanoid robot TORO

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD
Englsberger, Johannes	UNSPECIFIED	https://orcid.org/0000-0002-8117-2650
Werner, Alexander	UNSPECIFIED	UNSPECIFIED
Ott, Christian	UNSPECIFIED	https://orcid.org/0000-0003-0987-7493
Henze, Bernd	UNSPECIFIED	UNSPECIFIED
Roa, Maximo A.	UNSPECIFIED	UNSPECIFIED
Garofalo, Gianluca	UNSPECIFIED	https://orcid.org/0000-0002-7481-3464
Burger, Robert	UNSPECIFIED	UNSPECIFIED
Beyer, Alexander	UNSPECIFIED	https://orcid.org/0000-0003-2501-0814
Eiberger, Oliver	UNSPECIFIED	UNSPECIFIED
Schmid, Korbinian	UNSPECIFIED	UNSPECIFIED
Albu-Schäffer, Alin	UNSPECIFIED	UNSPECIFIED

Date:

November 2014

Journal or Publication Title:

IEEE-RAS International Conference on Humanoid Robots

Refereed publication:

Yes

Open Access:

Yes

Gold Open Access:

In SCOPUS:

Yes

In ISI Web of Science:

Status:

Published

Keywords:

humanoid robot, TORO, mechanical design, control, overview

Event Title:

IEEE-RAS International Conference on Humanoid Robots 2014

Event Location:

Madrid, Spanien

Event Type:

international Conference

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Space

HGF - Program Themes:

Space System Technology

DLR - Research area:

Raumfahrt

DLR - Program:

R SY - Space System Technology

DLR - Research theme (Project):

R - Terrestrial Assistance Robotics (old)

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems

Deposited By:

Englsberger, Dr.-Ing. Johannes

Deposited On:

12 Jan 2015 18:29

Last Modified:

27 Jan 2023 21:51

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