TORO 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

Degrees of freedom: 39 total stated by DLR; current neck breakdown differs from 2014 paper
Manipulation: Whole-body manipulation and multi-contact control research
Height: 174 cm
Weight: 76 kg nominal; 76.385 kg in 2014 paper
Payload capacity: 10 kg nominal payload
Control Interface: Position and torque control
actuation and motion control: DLR Lightweight Robot torque-controlled electrical drives; position-controlled neck servos
Runtime: >1 h battery operation
Maximum speed: 0.5 m/s
Arm Dof Per Arm: 6 per arm
Leg Dof Per Leg: 6 per leg
Hand Dof: 6 per hand
Waist Dof: 1 DoF
Head Dof: 2 neck axes in 2014 technical paper; current DLR page lists 1
Sensor Suite: Joint torque sensors in almost all joints; 2 IMUs; 2 foot force-torque sensors; 2 stereo cameras + 1 RGB-D camera