Title :
Overview of the torque-controlled humanoid robot TORO
Author :
Englsberger, Johannes ; Werner, Alexander ; Ott, Christian ; Henze, Bernd ; Roa, Maximo A. ; Garofalo, Gianluca ; Burger, Robert ; Beyer, Alexander ; Eiberger, Oliver ; Schmid, Korbinian ; Albu-Schaffer, Alin
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 robots; legged locomotion; mechanical stability; position control; robot kinematics; torque control; DLR Biped; TORO; computer hardware; electronics; mechanical design; multicontact balancing strategy; sensors; torque-controlled humanoid robot; walking strategy; Hip; Humanoid robots; Joints; Legged locomotion; Robot sensing systems;
Conference_Titel :
Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on
Conference_Location :
Madrid
DOI :
10.1109/HUMANOIDS.2014.7041473
