TALOS

The humanoid robot that integrates the latest cutting-edge robotics technology

Torque control

The bipedal humanoid 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 1 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 capacitates the robot for effectively perform tasks in 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…

TALOS, officially presented at LAAS-CNRS (Toulouse, France)

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MEMMO Project: Giving memories to robots for a better motion generation

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TALOS humanoid joins the RoboHub family at University of Waterloo!

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TALOS at JSI: Humanoids, imitation learning and torque control

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Video TALOS in action

TALOS is a high performance humanoid robot standing at 1.75m. PAL Robotics’ humanoid 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

Download datasheet

Frequently Asked Questions

Which is the frequency of the control loop?

TALOS’ Torque control has a low latency of 1kHz.

Is there a full state estimation of the robot available to the controllers?

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.

Which sensors are available through ros_control?

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.

Is the dynamical model of the robot provided?

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 robot.

More FAQs

Contact PAL Robotics team if you have any further questions!

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