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.
Domains
Robotics [cs.RO]
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ICAR_2021_System_TALOS_Localization_Walking_final_fixed_video.pdf (5.69 Mo)
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