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TORO

Details

Toro is an advanced humanoid robot used as a research platform to study bipedal walking and autonomous behaviors combining manipulation and locomotion.

Creator
German Aerospace Center (DLR)
Country
Germany πŸ‡©πŸ‡ͺ
Year
2013
Type
Humanoids, Research
Creator
German Aerospace Center (DLR)
Country
Germany πŸ‡©πŸ‡ͺ
Year
2013
Type
Humanoids, Research

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Specs

FEATURES
Self-contained, with both position and torque control modes. Payload of 10 kg. Based on KUKA-DLR Lightweight Robot (LWR) arm drives.
HEIGHT
174 cm | 68.5 in
LENGTH
N/A cm | N/A in
WIDTH
N/A cm | N/A in
WEIGHT
76 kg | 167.5 lb
SPEED
1.8 km/h | 1.1 mph (arm speed)

SENSORS
Position and torque sensors in each joint. 6-DoF force/torque sensor in each ankle. Inertial measurement units on torso and head. ASUS Xtion pro in the head. Two FLIR/Point Grey Firefly monochrome cameras in the head. One Intel RealSense SR 300 in the head.
ACTUATORS
25 motor drive units (based on LWR technology) on arms, legs, and hip. Two Dynamixel servo motors on the neck.
POWER
Two 48-V, 6.6-Ah lithium-ion-manganese-oxide battery packs, 1 hour of operation
COMPUTING
Two Intel Core i7 computers on torso, one Intel Core i3 computer in the head
SOFTWARE
Real-Time Linux based on Kernel 4. Real-time-capable middleware Links and Nodes (developed at DLR). Runtime-configurable hardware abstraction framework Robotkernel (developed at DLR).
DEGREES OF FREEDOM (DOF)
39 (Neck: 2 DoF; Arms: 6 DoF x 2; Legs: 6 DoF x 2; Hip: 1 DoF; Hands: 6 DoF x 2)
MATERIALS
Mostly custom-made parts, milled in aluminum.
COST
N/A
STATUS
Ongoing
HISTORY
WEBSITE
https://www.dlr.de/rm/desktopdefault.aspx/tabid-11678