Research
CARL
Built by Robotics Research Lab, Technische Universität Kaiserslautern
Updated May 2026·methodology
Overview
CARL (Compliant Robotic Leg) is a planar robotic leg designed for bio-inspired, human-like bipedal locomotion research. It features mono- and bi-articular actuation using custom RRLab Series Elastic Actuators (SEAs) that provide force/impedance control and inherent tolerance against impact forces. The leg employs four-bar linkages and redundant actuation coupled across five SEAs, with an off-the-shelf prosthetic foot. It is integrated with a test rig incorporating a treadmill and lifting mechanism to enable single-leg walking validation and control of the Bio-inspired Behavior-Based Bipedal Locomotion Control (B4LC) framework.
Specifications
Category: Research- Payload
- 5 kg
- Weight
- 50 kg
- Battery
- 3 h
- Autonomy
- semi-autonomous
- Launch year
- 2017
- Price
- Contact for quote
- Status
- active
Detailed specifications
Motion & kinematics1
- Dof
- 26
Other7
- Sub Category
- bipedal humanoid
- Force Limiting
- true
- Company Country
- ES
- Compatible Vision
- RGB-D Cameras
- Software Platform
- SurvCE / SurvPC
- Compatible Grippers
- Parallel gripper (ISO 9409-1 compatible)
- Additional Information
- Novel leg architecture with closed kinematic chains for efficient bipedal locomotion.,Anthropomorphic design with human-like torso actuation.,Symmetric workspace enables front and rear manipulation tasks.,Plug & Play end-effector integration (ISO 9409-1 compatible).,Three variants: Lite (50kg, 4 DoF arms, fixed torso), Standard (54kg, 7 DoF arms, 2 DoF torso, force/torque sensors), Plus (56kg, 7 DoF arms, 2 DoF torso, AI kit, FT sensors).,ROS 2 API support for advanced programming and integration.,Compatible with Isaac Lab, Mujoco, and Gazebo simulators.,NVIDIA Jetson Orin compute options for onboard AI processing.,Targeted at research, AI, and robotics development applications.,Premium transport case included with Plus variant.,Yearly subscription for documentation, support, and maintenance.
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