TALOS is an advanced humanoid designed to perform complex tasks in research and industrial settings. It uses torque control to move its limbs and can walk on uneven terrain, sense its environment, and operate power tools.

PAL Robotics provide a state estimation from IMU+kinematics out-of-the-box, a system for fusing this odometry with additional external measurements should be tackled with an additional estimator out of the real-time ros_control loop. This would be safer for the whole body torque control that relies on the CoM estimation.

TALOS’ Torque control has a low latency of 2kHz.