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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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Englsberger, Johannesjohannes.englsberger (at) dlr.deUNSPECIFIED
Werner, Alexanderalexander.werner (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Henze, Berndbernd.henze (at) dlr.deUNSPECIFIED
Roa, Maximo A.maximo.roagarzon (at) dlr.deUNSPECIFIED
Garofalo, Gianlucagianluca.garofalo (at) dlr.deUNSPECIFIED
Burger, Robertrobert.burger (at) dlr.deUNSPECIFIED
Beyer, AlexanderAlexander.Beyer (at) dlr.deUNSPECIFIED
Eiberger, OliverOliver.Eiberger (at) dlr.deUNSPECIFIED
Schmid, Korbiniankorbinian.schmid (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:November 2014
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Englsberger, Johannes
Deposited On:12 Jan 2015 18:29
Last Modified:31 Jul 2019 19:51

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