Control Applications of TORO - a Torque Controlled Humanoid Robot
Channel: DLR RM
Date: 2015-04-07

This video presents an overview of the hardware and the control applications of the TOrque-controlled humanoid RObot TORO developed at DLR. Applications include: compliant behavior for the whole robot, energy-based limit cycle controller for hand shaking, walking on flat ground, balancing on a rockerboard, and multi-contact whole-body control.