TORO Wheeled (Mobile Manipulator Variant) product profile
TORO Wheeled is a mobile manipulation variant of DLR TORO humanoid research platform. It pairs torque-controlled upper-body capability with wheeled mobility for studying manipulation and task execution without relying on bipedal walking.
Facts
- Company: DLR Institute of Robotics and Mechatronics
- Product type: Mobile Manipulator
- Status: research
- Capability focus: Manipulation
- Website: https://www.dlr.de/rm/
Profile sections
- Summary
- Overview
- Market context
- Audience
- Workflow
- Capability
- Deployment environment
- Positioning tags
- Specifications
- Tags
- Comparable Systems
- Sources
Summary
TORO Wheeled is a mobile manipulation variant of DLR TORO humanoid research platform. It pairs torque-controlled upper-body capability with wheeled mobility for studying manipulation and task execution without relying on bipedal walking.
Overview
TORO Wheeled is a mobile manipulation variant of DLR TORO humanoid research platform. It pairs torque-controlled upper-body capability with wheeled mobility for studying manipulation and task execution without relying on bipedal walking.
Market context
TORO Wheeled is a DLR mobile-manipulation research platform associated with whole-body manipulation work on a wheeled base.
- Target environment: Factories, warehouses, labs, service sites and controlled indoor environments where wheeled manipulation can operate safely.
- Workflow context: Autonomous navigation, object handling, dual-arm or arm-based manipulation, teleoperation and facility task execution.
- Customer context: Industrial operators, logistics teams, research labs and service organizations evaluating mobile manipulation.
- 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 site fit, manipulation reliability, safety, navigation, integration effort and task economics.
- Market position: TORO Wheeled (Mobile Manipulator Variant) sits in the mobile-manipulation lane, using mobility plus arms to pursue practical physical tasks.
- Adjacent products: Kinisi 01, DexForce W1, Stretch RE2, Quanta X2
Workflow
Autonomous navigation, object handling, dual-arm or arm-based manipulation, teleoperation and facility task execution.
Deployment environment
Factories, warehouses, labs, service sites and controlled indoor environments where wheeled manipulation can operate safely.
Positioning tags
- Audience: Researchers
- Workflow: Autonomous navigation, object handling, dual-arm or arm-based manipulation, teleoperation and facility task execution.
- Capability: manipulation
- Deployment environment: Factories, warehouses, labs, service sites and controlled indoor environments where wheeled manipulation can operate safely.
Specifications
- Configuration: wheeled mobile base with humanoid upper body (similar to Rollin' Justin design philosophy)
- Upper Body Dof: 25 approximate
- Arm Dof: 6 per arm
- Arm Payload Kg: 5 kg per arm
- Mobility: wheeled omnidirectional mobile base for smooth indoor navigation
- Drive Units: motor drive units based on KUKA LWR technology (RoboDrive brushless DC motors, Harmonic Drive gears, torque and position sensors, brakes) for upper body
- Sensors: position and torque sensors in each joint, inertial measurement units, stereo cameras, depth sensors (ASUS Xtion Pro, Intel RealSense SR300), FLIR/Point Grey Firefly monochrome cameras
- Compute: Intel Core i7 processors for real-time control and high-level planning, additional processors for sensor processing
- Structure: aluminum and carbon fiber components (upper body), wheeled mobile platform for base
- Software: real-time Linux with middleware Links and Nodes, Robotkernel hardware abstraction, torque control software, whole-body impedance control for mobile manipulators (closed source)
- Control: torque-controlled joints, backdrivable behavior, highly sensitive impedance controllers, safe compliant interaction, whole-body control strategies, reactive mobile manipulation
- Connectivity: Ethernet and wireless LAN, real-time middleware (Links and Nodes)
- Tasks: mobile manipulation research, whole-body control for wheeled platforms, object handling, assembly tasks, autonomous navigation in factory environments, safe human-robot interaction studies
Tags
- Peer Group: Mobile manipulation robot
- Capability: Mobile manipulation, Whole-body control
- Deployment Environment: Research lab
- Stack Layer: Finished robot platform
- Commercial Stage: Research platform
Comparable Systems
- Astribot S1 - Astribot - Mobile Manipulator
- MH3 - Mirsee Robotics - Mobile Manipulator
- Vega - Dexmate - Mobile Manipulator
TORO Wheeled (Mobile Manipulator Variant) canonical Korthos profile