TORO

A shiny blue and silver bipedal humanoid with powerful arms, black hands, and a cute rounded rectangular face with cameras and sensors, and two jointed legs.
Toro has 25 motors in his body. Photo: DLR

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)

Year
2013
Country
Germany 🇩🇪
Categories
Features
How torque control on Toro works. Video: DLR

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Appearance

Neutral

Did you know?

TORO stands for TOrque-controlled RObot. It also means "bull" in Spanish.

A close-up of TORO shows a view into the top of it's head, which reveals electronics.
And two computers in his torso and one in his head. Photo: DLR
A shiny blue and silver bipedal humanoid rests a hand on the top of a rugged space rover.
Even robots need best friends. Photo: DLR

Specs

Overview

Self-contained, with both position and torque control modes. Payload of 10 kg. Based on KUKA-DLR Lightweight Robot (LWR) arm drives.

Status

Ongoing

Year

2013

Website
Height
174 cm
Weight
76 kg
Speed
1.8 km/h (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.

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.

Compute

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).

Power

Two 48-V, 6.6-Ah lithium-ion-manganese-oxide battery packs, 1 hour of operation