Torque-Controlled Humanoid Robot TORO
Torque-Controlled Humanoid Robot TORO
- New search for: Henze, Bernd
- New search for: Henze, Bernd
The control approaches presented in this work are designed for the humanoid robot TORO, but can also be deployed on other humanoid robots featuring torque-controlled joints and multiple limbs. Quadrupeds are also a potential target platform, as the approaches from Chaps. 6 and 7 are able to handle an arbitrary number of contacts. In this work, the control approaches are evaluated through several experiments with the humanoid Robot TORO developed by the German Aerospace Center (DLR). An overview of the system architecture is given below.
Document information
Torque-Controlled Humanoid Robot TORO
Spr.Tracts in Adv.Robotics
Whole-Body Control for Multi-Contact Balancing of Humanoid Robots ; Chapter : 5 ; 59-64
2021-11-04
6 pages
Article/Chapter (Book)
Electronic Resource
English