THOR Development Overview

This video shows early development of the Tactical Hazardous Operations Robot (THOR). Clips display the series elastic actuator high speed performance and zero impedance tests, THOR lower body range of motion, compliant balancing using whole-body control, push recovery, and balancing on a moving platform. These clips are excerpts from video submissions to the 2014 EEE-RAS International Conference on Humanoid Robots. Work related to this video can be found in: [1] B. Lee, C. Knabe, V. Orekhov, and D. Hong.