German Aerospace Center (DLR)
Agile Justin
DLR's 53-DOF torque-controlled humanoid for learning-based dexterous manipulation.
Height191 cm
Degrees of freedom53
Arm payload15 kg
ResearchIndustrial
Price on request
TORO official imageImage source ↗
TORO
德国航空航天中心
DLR's torque-controlled biped, built to study robust walking and multi-contact balance.
PrototypeVerified Last verified 31 Oct 2026
Height174 cm
Degrees of freedom39
Arm payload10 kg
Top speed—
Battery life1 h
Starting pricePrice on request
What it is
TORO (Torque-Controlled Humanoid Robot) is a German research biped from DLR's Institute of Robotics and Mechatronics, introduced in 2013. It stands 174 cm, weighs 76 kg and has 39 degrees of freedom, with joint torque sensing throughout and lightweight-robot arm technology. TORO is used to study robust walking, stair climbing and multi-contact scenarios.
Highlights
0139 degrees of freedom at 174 cm and 76 kg.
02Torque-controlled joints derived from DLR's lightweight robot arms.
0310 kg payload and about one hour of battery operation.
04Two Intel i7 computers in the torso and one i3 in the head.
05Used for robust walking and multi-contact research.
The numbers
Body
| Height | 174 cm |
|---|---|
| Weight | 76 kg |
| Form factor | Full-size |
Motion & power
| Locomotion | Bipedal |
|---|---|
| Degrees of freedom | 39 |
| Arm payload | 10 kg |
| Battery life | 1 h |
| Actuators | 25 LWR-derived motor units plus two Dynamixel neck servos. |
Compute, sensing & hands
| Compute | Two Intel Core i7 torso PCs and one Intel Core i3 head PC running real-time Linux. |
|---|---|
| Sensing | Joint position and torque sensors, 6-axis force/torque sensors in each ankle, torso and head IMUs, ASUS Xtion Pro, two Firefly cameras and a RealSense SR300. |
| Hands | Six-DOF hands. |
Platform & deployment
| Availability | Prototype |
|---|
Evidence trail
Claims on this profile are linked to primary reporting and manufacturer material where available.
Specifications are sourced from public materials and may change. Always confirm commercial terms with the manufacturer.
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