OTHER
Overview of the torque-controlled humanoid robot TORO
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
- Year
- 2014
- Citations
- 279
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.
Keywords
Humanoid robotDimensioningTorqueComputer scienceRobotMechanical designSimulationEngineeringControl engineeringMechanical engineering
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