THOR: Tactical Hazardous Operations Robot for the DARPA Robotics Challenge HD

THOR is a bipedal humanoid robot for search and rescue operations that was developed for the DARPA Robotics Challenge. THOR is electromechanical and utilizes several cutting edge technologies, including series-elastic actuation with impedance control, coordinated dual-arm control with collision-avoidance and haptics, 3D environment perception and mapping, and an intuitive user interface for autonomous and semi-autonomous operation.