The TALOS is a walking humanoid robot that is fully torque controllable. It has torque sensor feedback in all its joints. It has 6kg payload per arm, so it can pick up all kinds of industrial tools. In this video, you can see this robot walking using Model Predictive Control send to a Whole-Body Inverse Dynamics (WBID) controller.
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PAL Robotics | TALOS MPC walking with WBID
As you can see, this robot can navigate through various terrains, including stairs and slopes.
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