Overview of the torque-controlled humanoid robot TORO
2014pp. 916–923
Citations Over TimeTop 10% of 2014 papers
Johannes Englsberger, A. Werner, Christian Ott, Bernd Henze, Máximo A. Roa, Gianluca Garofalo, Robert J. Burger, Alexander Beyer, Oliver Eiberger, Korbinian Schmid, Alin Albu‐Schäffer
Abstract
This paper gives an overview on the torque-controlled 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.
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