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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
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
Abstract : 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.
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Contributor : Jean-Baptiste Mouret Connect in order to contact the contributor
Submitted on : Tuesday, June 1, 2021 - 3:43:34 PM
Last modification on : Friday, February 4, 2022 - 3:34:58 AM
Long-term archiving on: : Thursday, September 2, 2021 - 7:26:53 PM


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  • HAL Id : hal-03245005, version 1


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⟩



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