T. Lasguignes,
I. Maroger,
M. Fallon,
M. Ramezani,
L. Marchionni,
O. Stasse,
N. Mansard,
B. Watier,
*International Conference on Advanced Robotics (ICAR)*,
2021,
HAL
Publisher
Bib
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.