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

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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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hal-03245005 , version 1 (01-06-2021)

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  • HAL Id : hal-03245005 , version 1

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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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