Conference item
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.
- Publication status:
- Published
- Peer review status:
- Reviewed (other)
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Access Document
- Files:
-
-
(Preview, Accepted manuscript, 5.8MB, Terms of use)
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- Publisher copy:
- 10.1109/icar53236.2021.9659474
Authors
- Publisher:
- Institute of Electrical and Electronics Engineers
- Journal:
- Proceedings of the 2021 International Conference on Advanced Robotics (ICAR) More from this journal
- Pages:
- 800-805
- Publication date:
- 2022-01-05
- Event title:
- 2021 20th International Conference on Advanced Robotics (ICAR)
- Event start date:
- 2021-12-06
- Event end date:
- 2021-12-10
- DOI:
- Language:
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English
- Keywords:
- Pubs id:
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1242876
- Local pid:
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pubs:1242876
- Deposit date:
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2022-03-09
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2022
- Rights statement:
- © Copyright 2022 IEEE - All rights reserved.
- Notes:
-
This is the accepted manuscript version of the article. The final version is available from IEEE at https://doi.org/10.1109/ICAR53236.2021.9659474
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