代码 · verified_hold
审核码：verified_hold; 官方关系：no_public_paper_controller_or_physical_artifact_found; 最近核验：2026-08-13代码：not found; paper names TSID, Pinocchio and EiQuadProg dependencies but no paper controller release
权重：not applicable; no learned model release
数据：no skin calibration, sensor logs, physical trials or REEM-C deployment package found
许可证：article_CC-BY-4.0_only；Article license does not grant controller, dependency, robot, firmware, skin hardware or physical-data reuse.
依赖：ROS/C++、TSID、Pinocchio、EiQuadProg、DCM balance/walking controller、event-driven skin processing
硬件/传感器：PAL Robotics REEM-C 30-DoF humanoid、1,260 tactile-skin cells / 11,340 multimodal channels、control PC Intel i7-4700EQ、multimedia PC Intel i7-3612QE
实机证据：REEM-C physical tasks: bulky-object transport, interaction-force regulation and dynamic-obstacle avoidance.；Control QP updates at 200Hz; skin processing at 250Hz; article reports QP around 1.5ms and whole loop typically below 3ms in its setup.
独立复现：None verified.
限制/反面证据：No method code；No REEM-C model/calibration/logs；No physical-trial denominator or variance table verified；No independent reproduction；Legacy platform and bespoke skin do not establish transfer to current humanoids
当前建议：人形全身触觉工程锚点·待复现；Use as a hardware/control systems comparison anchor, not as an open policy baseline. A modern reproduction needs a current humanoid, skin/proximity equivalent, calibration and a full real-time safety loop.
重点标签：人形全身触觉、QP全身控制、REEM-C真机、主流技术迭代、社区验证待补
核验来源：来源 1 · 来源 2