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LAAS-ROB : Robotics |  |
Conference papers
ICP Localization and Walking Experiments on a TALOS Humanoid Robot
Abstract : 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.
https://hal.laas.fr/hal-03482225
Contributor : Thibaud Lasguignes Connect in order to contact the contributor
Submitted on : Wednesday, December 15, 2021 - 5:38:35 PM
Last modification on : Tuesday, April 5, 2022 - 3:42:21 AM
Long-term archiving on: : Wednesday, March 16, 2022 - 7:35:53 PM
Contributor : Thibaud Lasguignes Connect in order to contact the contributor
Submitted on : Wednesday, December 15, 2021 - 5:38:35 PM
Last modification on : Tuesday, April 5, 2022 - 3:42:21 AM
Long-term archiving on: : Wednesday, March 16, 2022 - 7:35:53 PM
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ICAR_2021_System_TALOS_Localiz...
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