Answers are grounded in this paper and cite their sources.
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.
No takes yet. Share an insight, caveat, or question.
Englsberger et al. (2014) studied this question.