TORO 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 - Software: MATLAB/Simulink hierarchicalwhole-bodybalancingcontroller; qpOASES constrainedoptimisation - Control: unspecified - Conditions: Slowquasi-staticmotion nearhardwarelimits; notdynamicstairnavigation - source: elib.dlr.de
• Multi-contact balancing - Research demonstration - Balance against an aircraft-fuselage fixture and support structure using knee contacts. - environment: DLRresearch aircraft-fuselage andsupportfixtures - Hardware: TORO jointtorquesensors,footforce-torquesensors andIMU - Software: MATLAB/Simulink passivity-basedhierarchicalwhole-bodycontroller1kHz; qpOASES - Control: unspecified - Conditions: Externalfixtureforcesensors validatecontacts; notinthecontrolloop - source: elib.dlr.de