Name: PAL Robotics Talos
Brand: PAL Robotics

Dimensions specifications
Height	1.75 m
Weight	95 kg

Actuation specifications
Configurable head and gripper	configurable head/gripper
Torque control	fully torque-controllable thanks to the torque sensor feedback in all joints
Torque control latency frequency	2 kHz
Dynamical model urdf	URDF includes CoM position, mass and inertia tensors

Power specifications
Runtime	1.5 h walking

Mobility specifications
Locomotion type	walking biped
Dynamic walking	designed for dynamic walking
Multi contact motion	multi-contact motion

Manipulation specifications
Single-arm payload	6 kg (arm stretched)

Sensors specifications
Joint torque sensor feedback	full torque-sensor feedback in joints except head, wrists and grippers
State estimation	state estimation from IMU+kinematics out-of-the-box
Available sensors ros control	encoders, IMU, torque sensors at a joint level, Force/Torque sensors on the wrists and ankles and temperature sensors of the robots

Compute specifications
Ethercat control loop frequency	up to 5 kHz 2 kHz, and up to 5 kHz
Ros development	fully developed in ROS
Operating system	Ubuntu LTS
Real time operating system	Real Time OS
Operating systems	Ubuntu LTS, Real Time OS
Open source simulation model	Simulation model available at: http://wiki.ros.org/Robots/TALOS
Whole body control	A controller written in the ros_control framework developed by PAL Robotics that allows the user to solve a problem consisting of tasks and constraints ordered by priority.