Whole-body teleoperation of the Talos humanoid robot: preliminary results

Eloïse Dalin (1) , Ivan Bergonzani (1) , Timothée Anne (1) , Serena Ivaldi (1) , Jean-Baptiste Mouret (1)

1 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment

We propose a task-space, whole-body teleoperation framework for the Talos humanoid robot. Our main focus is to ensure the safety of the robot by preventing falls and collision: the whole-body controller tracks the hands and the head, while a repulsor-based task prevents self-collisions and a force-based stabilizer corrects the posture to avoid falls.

Domaines: Automatique / Robotique; Robotique [cs.RO]; Intelligence artificielle [cs.AI]

Eloïse Dalin, Ivan Bergonzani, Timothée Anne, Serena Ivaldi, Jean-Baptiste Mouret. Whole-body teleoperation of the Talos humanoid robot: preliminary results. ICRA 2021 - 5th Workshop on Teleoperation of Dynamic Legged Robots in Real Scenarios, May 2021, Xi’an / Virtual, China. ⟨hal-03245005⟩