Overview of the torque-controlled humanoid robot TORO. Englsberger, J., Werner, A., Ott, C., Henze, B., Roa, M., A., Garofalo, G., Burger, R., Beyer, A., Eiberger, O., Schmid, K., & Albu-Schaffer, A. In 2014 IEEE-RAS International Conference on Humanoid Robots, pages 916-923, 11, 2014. IEEE.
Overview of the torque-controlled humanoid robot TORO [pdf]Paper  abstract   bibtex   
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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