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TORO
TORO
Last updated: August 29, 2026
Locomotion Type
Biped
Stage
Demo
Height
174 cm
Degrees of Freedom
39 DOF
Hand DOF
6 DOF
Weight
76 kg
Max Speed
1.8 km/h
Dual-Arm Payload
10 kg
Release Year
2013
Sensors
Torque sensors in almost all joints; 2 IMUs; 2 foot force-torque sensors; 2 stereo cameras; 1 RGB-D camera.
DLR's torque-controlled humanoid research platform for bipedal movement and dynamics. It supports robust walking, stair climbing and multi-contact scenarios, with active torque control in almost all joints, IMU and foot force-torque sensing, and stereo/RGB-D vision.
Application Scenarios
Bipedal walking and balance research; stair climbing; multi-contact whole-body control; torque- versus position-based control; physical human-robot interaction.
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