First do not fall: learning to exploit a wall with a damaged humanoid robot

Autor: Anne, Timothée, Dalin, Eloïse, Bergonzani, Ivan, Ivaldi, Serena, Mouret, Jean-Baptiste

Humanoid robots could replace humans in hazardous situations but most of such situations are equally dangerous for them, which means that they have a high chance of being damaged and falling. We hypothesize that humanoid robots would be mostly used i

Externí odkaz: http://arxiv.org/abs/2203.00316

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

Autor: Dalin, Eloïse, Bergonzani, Ivan, Anne, Timothée, Ivaldi, Serena, Mouret, Jean-Baptiste

Publikováno v: ICRA 2021-5th Workshop on Teleoperation of Dynamic Legged Robots in Real Scenarios
ICRA 2021-5th Workshop on Teleoperation of Dynamic Legged Robots in Real Scenarios, May 2021, Xi’an / Virtual, China

International audience; 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 th

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::eb67e12b1acde537bdb16c6f76a258d0
https://hal.inria.fr/hal-03245005