Home
/
Robots
/
TORO

TORO

TORO by DLR is a torque-controlled humanoid robot with 39 DOF, advanced bipedal walking, and manipulation capabilities for research and industrial applications.
In Development
Germany
Humanoid
2013
Specifications
Dev Doc
Website
Made by
Deutsches Zentrum für Luft- und Raumfahrt e.V.
Software Type
Closed Source
Software Package
Real-time Linux operating system with kernel 4. Middleware Links and Nodes for real-time communication. Robotkernel hardware abstraction framework. ZMP-based walking algorithms and torque control software.
Actuators
25 motor drive units based on KUKA LWR technology, including RoboDrive brushless DC motors, Harmonic Drive gears, torque and position sensors, and brakes. Two Dynamixel servos control the neck joints.
Compiute
Two Intel Core i7 processors in the torso for real-time control and high-level planning, plus Intel Core i3 and ARM7 processors in the head for sensor processing.
Sensors
6-DOF force/torque sensors in each ankle. Position and torque sensors in each joint. Inertial measurement units on torso and head. Stereo cameras, ASUS Xtion Pro depth sensor, Intel RealSense SR300, and FLIR/Point Grey Firefly monochrome cameras in the head.
Max Op. time
60
mins

Robot Brief

TORO (TOrque-controlled RObot) is an advanced humanoid robot developed by the German Aerospace Center (DLR) as a research platform for studying bipedal walking, manipulation, and autonomous behaviors. First introduced in 2013, TORO combines torque-controlled lightweight arms and legs with a humanoid upper body, enabling it to perform complex dynamic tasks such as climbing stairs, opening doors, and manipulating objects with foresight and fluency. Its design emphasizes safe human-robot interaction and robust contact with unknown environments, using torque sensors and force control to manage multiple contact points. TORO’s anthropomorphic arms and hands, based on KUKA-DLR Lightweight Robot (LWR) technology, provide a payload capacity of around 5 kg per arm. The robot is used in projects like EU COMANOID to explore humanoid applications in aircraft manufacturing, where it autonomously navigates factory environments and performs assembly tasks requiring physical support and precision.

Use Cases

TORO performs bipedal locomotion with dynamic balance control and torque-based joint actuation. It can walk smoothly, climb stairs, open heavy doors using coordinated arm and leg movements, and manipulate objects with dexterous arms. The robot autonomously navigates complex environments, adapts to physical interactions, and supports industrial tasks that involve non-ergonomic human postures.

Industries

  • Research & Development: Platform for advanced humanoid robotics research.
  • Aircraft Manufacturing: Assists in assembly tasks requiring precision and physical support.
  • Human-Robot Interaction: Studies safe collaboration in shared environments.
  • Industrial Automation: Exploration of humanoid robots in manufacturing processes.

‍

Specifications

Length
mm
Width
mm
Height (ResT)
mm
Height (Stand)
1740
mm
Height (Min)
mm
Height (Max)
mm
Weight (With Batt.)
kg
Weight (NO Batt.)
76
kg
Max Step Height
mm
Max Slope
+/-
°
Op. Temp (min)
°C
Op. Temp (Max)
°C
Ingress Rating
No items found.

Intro

TORO stands 174 cm tall and weighs 76 kg, featuring 39 degrees of freedom including 2 DOF neck, dual 6 DOF arms, dual 6 DOF legs, 1 DOF hip, and 6 DOF hands. It uses torque-controlled lightweight robot (LWR) drive units in arms, legs, and hip, with two Dynamixel servos in the neck. The robot’s structure is made mostly of milled aluminum and carbon fiber components for strength and lightness. TORO’s head contains stereo cameras, depth sensors, and inertial measurement units for environment perception and ego-motion estimation. It is powered by two Intel Core i7 computers for real-time control and planning, plus additional processors in the head for sensor data processing. The robot runs real-time Linux with middleware and hardware abstraction layers developed at DLR.

Connectivity

  • Ethernet and wireless LAN for communication and control.
  • Real-time middleware (Links and Nodes) for sensor and actuator integration.
  • Onboard computers connected via Ethernet and Sercos-II bus.

‍

Capabilities

  • Smooth bipedal walking at speeds up to 1.8 km/h (arm speed).
  • Torque-controlled joints enabling safe, compliant interaction.
  • Climbing stairs and opening heavy doors with dynamic, coordinated motions.
  • Manipulation with anthropomorphic arms capable of 5 kg payload each.
  • Real-time environment mapping and ego-motion estimation.
  • Force/torque sensing at ankles and joints for balance and contact control.

‍