ICP Localization and Walking Experiments on a TALOS Humanoid Robot

Thibaud Lasguignes (1) , Isabelle Maroger (1) , Maurice Fallon (2) , Milad Ramezani (2) , Luca Marchionni (3) , Olivier Stasse (1) , Nicolas Mansard (1) , Bruno Watier (1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
2 ORI - Oxford Robotics Institute
3 PAL Robotics

This system paper describes the integration and the evaluation of an ICP-based localization system on the TALOS humanoid robot. The new generation of flash LiDAR systems, here an Ouster OS1-64, have made it possible to obtain 3D clouds at 10 Hz. Coupled with an Intel RealSense T265 providing visual-inertial odometry it is possible to localize the robot and use this information to generate foot steps in real time to reach specific points. The approach is validated with a Qualisys motion capture system. It is also used to generate real-time walking motion on the TALOS humanoid robot. This paper is an integration paper showing that it is now feasible to accurately guide a humanoid robot in an environment in real time using a LiDAR system.

Mots clés: LiDAR-based localization; TALOS humanoid robot; walking

Domaines: Robotique [cs.RO]

Thibaud Lasguignes, Isabelle Maroger, Maurice Fallon, Milad Ramezani, Luca Marchionni, et al.. ICP Localization and Walking Experiments on a TALOS Humanoid Robot. 20th International Conference on Advanced Robotics (ICAR 2021)), Dec 2021, Ljubljana (en ligne), Slovenia. ⟨10.1109/ICAR53236.2021.9659474⟩. ⟨hal-03482225⟩