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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    Titel :

    Torque-Controlled Humanoid Robot TORO


    Weitere Titelangaben:

    Spr.Tracts in Adv.Robotics


    Beteiligte:
    Henze, Bernd (Autor:in)


    Erscheinungsdatum :

    04.11.2021


    Format / Umfang :

    6 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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