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.


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    Title :

    Torque-Controlled Humanoid Robot TORO


    Additional title:

    Spr.Tracts in Adv.Robotics


    Contributors:


    Publication date :

    2021-11-04


    Size :

    6 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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