TORO, torque controlled humanoid robot, Robotics and Mechatronics Center, Cologne, Germany

[Airicist]

Developer - Robotics and Mechatronics Center

Helmholtz Young Investigators Group (NG808)
for „Dynamic Control of Legged Humanoid Robots”

"The robot is complete – arms and hands for TORO, the walking machine"

March 25, 2013

"Overview of the torque-controlled humanoid robot TORO"

[Airicist]

DLR-Biped with prototype upper body

Published on Jul 1, 2013

"Introducing TORO, Germany's new humanoid robot"
This is the German Aerospace Center's (DLR) humanoid robot with a prototype upper body.

by Jason Falconer
July 1, 2013

[Airicist]

TORO, DLR's two-legged humanoid robot

Published on May 20, 2014

DLR's TORO (short for TOrque controlled humanoid RObot - 'Justin's little brother') making a little present to @marco_t ... filmed at ESA/DLR/BDLI Space Pavilion at ILA Berlin Air Show on 20 May 2014, 11:40 CEST.

[Airicist]

Control Applications of TORO - a Torque Controlled Humanoid Robot

Published on Apr 7, 2015

This video presents an overview of the hardware and the control applications of the TOrque-controlled humanoid RObot TORO developed at DLR. Applications include: compliant behavior for the whole robot, energy-based limit cycle controller for hand shaking, walking on flat ground, balancing on a rockerboard, and multi-contact whole-body control.

[Airicist]

Daniel Leidner and Alexander Dietrich, "Towards Intelligent Compliant Service Robots"

Published on Sep 21, 2015

In Proc. of the Twenty-Ninth AAAI Conference on Artificial Intelligence
AAAI Video Competition, Nominated for Best Video Award

Compliant manipulation is one of the key aspects for future service robots in domestic and human environments. In this video we demonstrate our hybrid reasoning framework capable of planning and executing compliant whole-body manipulation tasks. A modular concept allows to combine robot capabilities together with object knowledge to parameterize a task symbolically and geometrically w.r.t. the actual state of the environment. A whole-body impedance control architecture is utilized to exert forces with various tools in order to solve everyday cleaning tasks. The framework is implemented on the humanoid robot Rollin' Justin and validated in three experiments which represent typical household chores: wiping a window, cleaning a mug, and sweeping the floor with a broom.

[Airicist]

Multi-Contact balancing for torque-controlled humanoid robots

Published on Nov 9, 2016

Humanoid robots are meant to take over task which are dangerous or too physically demanding for humans. To accomplish this, the robot must be able to balance robustly in challenging terrain as e.g. stairs, industrial ladders, or debris. In order to gain more robustness, the robot can use multiple contacts (not only the feet but also the hands) to support itself. This video contains several experiments with the humanoid robot TORO developed by DLR, which demonstrates the performance and robustness of a passivity-based balancing controller utilizing multiple contacts.
An in-depth discussion of the method is presented in the paper ‘Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios’, IJRR 2016. DOI: 10.1177/0278364916653815