Project Description
Torque control
The walking biped humanoid robot TALOS is fully torque-controllable thanks to the torque sensor feedback in all joints, which enables powerful sensing and multi-contact motions. The closed loop torque control can be used for whole-body control inverse dynamics and safe interaction with the environment.
EtherCAT Network
TALOS’ EtherCAT communication network allows to run control loops at 2 kHz, and up to 5 kHz, which enables TALOS to have highly reactive and dynamic motions.
EtherCAT Network
TALOS’ EtherCAT communication network allows to run control loops at 1 kHz, and up to 5 kHz, which enables TALOS to have highly reactive and dynamic motions.
6kg Payload per arm
TALOS has a payload of 6 Kg with each arm fully extended, because it was designed having in mind the use of heavy industrial tools. This enables our walking biped humanoid robot to effectively perform tasks in various environments such as the Factory of the Future.
Areas of use
USED FOR RESEARCH IN:
- Artificial Intelligence/Machine Learning
- Human-Robot Interaction
- Manipulation
- Perception
- Navigation
- Torque Control
- Highly reactive and dynamic motion
- Multi-contact motion planning
- Dynamic Walking
- Trajectory Optimization
FIELDS OF APPLICATION:
Factory of the Future
IoT
Rescue
Space exploration
TALOS IS USED IN…
Video TALOS in action
TALOS is a high performance humanoid biped robot standing at 1.75m. PAL Robotics’ walking biped robot can lift up to 6 Kg with one stretched arm, is fully electrical and 100% ROS based.
Technical specifications
Contact PAL Robotics and get in touch with a team of experts
who can assess you and provide you with more information of TALOS.
SPECS
| Height | 175 cm |
| Weight | 95 kg |
| Arm/Gripper payload | 6 kg (arm stretched) |
| Battery autonomy | 1.5h walking / 3h stand-by |
| Torque sensors | FULL TORQUE SENSOR FEEDBACK IN ALL JOINTS* |
| Head and Gripper | Fully customizable |
*Except head, wrists and grippers
OPEN SOURCE
Simulation model available at: wiki.ros.org/Robots/TALOS
Citations
TALOS Research Projects in Humanoid and Biped Robotics
Frequently Asked Questions
TALOS’ Torque control has a low latency of 2kHz.
We provide a state estimation from IMU+kinematics out-of-the-box, a system for fusing this odometry with additional external measurements should be tackled with an additional estimator out of the real-time ros_control loop. This would be safer for the whole body torque control that rely on the CoM estimation.
Via ros_control, you have access to the encoders, IMU, torque sensors at a joint level, Force/Torque sensors on the wrists and anckles and temperature sensors of the robots.
Yes, the URDF includes CoM position, mass and inertia tensors. This model has been extracted from the CAD and it was validated by the full body inverse dynamics and torque control on the walking biped robot.
Contact PAL Robotics team if you have any further questions!
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