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.
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.
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
Highly reactive and dynamic motion
Multi-contact motion planning
FIELDS OF APPLICATION:
Factory of the Future
TALOS IS USED IN…
Developing Memory of Motion in robots with arms and legs in project Memmo
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.
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.
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