TALOS: A new humanoid research platform targeted for industrial applications

TLDR

Humanoid robotics is advancing toward industrial applications, demanding high technical quality, robust repeatability, and effective human interaction. The paper introduces a new humanoid robot designed for industrial tasks and human‑environment interaction. Its design incorporates kinematics optimized for screwing and drilling, torque sensors and high‑resolution encoders for operator interaction, and lessons from DARPA Robotics Challenge feedback to address limitations. The robot can lift 6 kg with an out‑stretched arm, perform fast movements, and is expected to become a powerful research tool for advancing humanoid robotics.

Abstract

The upcoming generation of humanoid robots will have to be equipped with state-of-the-art technical features along with high industrial quality, but they should also offer the prospect of effective physical human interaction. In this paper we introduce a new humanoid robot capable of interacting with a human environment and targeting industrial applications. Limitations are outlined and used together with the feedback from the DARPA Robotics Challenge, and other teams leading the field in creating new humanoid robots. The resulting robot is able to handle weights of 6 kg with an out-stretched arm, and has powerful motors to carry out fast movements. Its kinematics have been specially designed for screwing and drilling motions. In order to make interaction with human operators possible, this robot is equipped with torque sensors to measure joint effort and high resolution encoders to measure both motor and joint positions. The humanoid robotics field has reached a stage where robustness and repeatability is the next watershed. We believe that this robot has the potential to become a powerful tool for the research community to successfully navigate this turning point, as the humanoid robot HRP-2 was in its own time.