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HumanoidPAL Robotics2017ES

TALOS

Full-size torque-controlled research biped (1.75 m, 95 kg, 32 DOF) with joint torque sensing and EtherCAT control.

activeBuyL2 Sim-verifiednot buildable

Difficulty index

10.5/13
10.5
Index breakdown
Classhumanoid+5
Costunknown · midpoint+1.5
DOF32 DOF+3
Partsunknown · midpoint+1
How the index works

Top of the ladder. This robot lives on the humanoid domains.

Specimen photographs

5 items
  • TALOS studio render, three-quarter front view
    Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from mujoco_menagerie/pal_talos (Apache-2.0) · Hyperspawn render · source
  • TALOS studio render, side view
    Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/pal_talos (Apache-2.0) · Hyperspawn render · source
  • 4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/pal_talos (Apache-2.0) · Hyperspawn render · source
  • PAL Robotics | TALOS - High Performance Biped RobotPALRobotics · official video, embedded · source
  • TALOS - Torque Controlled BalancingPALRobotics · official video, embedded · source

Spec card

8/13 known
Degrees of freedom
32
Height
175 cm
Mass
95 kg
Payload
6 kg
Runtime
90 min
Actuators
torque-controlled joints with torque sensors
Compute
Ubuntu LTS real-time, EtherCAT 2 kHz
Sensors
joint torque sensors, F/T wrists and ankles, IMU

Not in the registry: speed, battery, price, bom total, part count. Left blank rather than guessed.

What you learn building it

  • +Whole-body control
  • +Dozens of actuators on one bus
  • +Balance and fall handling
  • +Safe bring-up of a full-size machine
  • +Testing in simulation (URDF/MJCF) before touching hardware

Openness

30/100
  • not publicCAD
  • not publicBOM
  • not publicFirmware
  • publicSim model
  • publicSoftware
  • not publicPolicies

Score 30/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Software license: Apache-2.0.

Repos & models

URDF ↗MJCF ↗MuJoCo Menagerie ↗
Site

Build it

Closed hardware. Buy link only.

humanoidrobot.build/pal/talos · Closed hardware. Buy link only.

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

None. This is the top. Find people building it on humanoidrobots.team.

This is the top of the ladder.

NoteRuntime 1.5 h walking / 3 h standby. Commercial closed hardware; open ROS description and simulation.

Sources

  1. [1]PAL TALOS pagechecked 2026-09-24
  2. [2]TALOS paperchecked 2026-09-24