KORTHOS / ECOSYSTEM / PRODUCT

TORO

About

About TORO

TORO is DLR's 1.74-metre, 76-kilogram humanoid with 39 degrees of freedom and torque sensing across almost every joint. Stereo and RGB-D cameras, inertial sensors and force-torque sensors in both feet support perception, balance control and contact measurement.

DLR uses TORO to develop robust walking, stair climbing, whole-body control and balancing through hands, knees and feet. The platform can compare torque, impedance and position-control methods on the same body. Its battery provides more than one hour of operation, and DLR specifies a nominal ten-kilogram payload.

Capabilities

Source-backed capabilities

  • Operating environments: DLRresearch stairfixture, DLRresearch aircraft-fuselage andsupportfixtures
  • Stair climbing

    Research demonstration - Climb two18cm steps using quasi-static toe push-off motion. - environment: DLRresearch stairfixture

    Source
  • Multi-contact balancing

    Research demonstration - Balance against an aircraft-fuselage fixture and support structure using knee contacts. - environment: DLRresearch aircraft-fuselage andsupportfixtures

    Source

Supply

Supply / Components

  • TORO

    Joint Drive Units - Actuation - KUKA - DLR reused KUKA-LWR drive units and electronics in the 2014 TORO humanoid configuration - source: elib.dlr.de

    Source

Research

  • DLR publishes overview paper for torque-controlled humanoid TORO

    2014-11-18 - Research Publication - This paper covers DLR publishes overview paper for torque-controlled humanoid TORO for TORO (TOrque-controlled humanoid RObot) in Human-robot interaction.

    Source

Context

Market context

TORO is DLR's torque-controlled humanoid research robot for bipedal walking, whole-body balance and manipulation research.

  • Target environment: Research labs, industrial pilots, service demonstrations and structured environments where humanoid hardware can be tested or deployed.
  • Workflow context: Locomotion, manipulation, human-robot interaction, embodied AI testing and task execution in controlled settings.
  • Customer context: Robot developers, research teams, industrial partners and service operators evaluating humanoid systems.
  • Deployment model: Research-stage platform used for experimentation, validation and robotics development.
  • Commercial maturity: Research-oriented maturity, strongest as a platform for learning, testing or technical validation.
  • Adoption constraints: Adoption depends on safety, useful task coverage, manipulation reliability, operating time, support and proof outside demonstrations.
  • Market position: DLR Institute of Robotics and Mechatronics positions TORO (TOrque-controlled humanoid RObot) in the humanoid lane, where body format, autonomy and task evidence determine…
  • Adjacent products: Figure 03, Apptronik Apollo, Unitree G1, Agility Digit

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