The goal of the tutorial is to exchange information and software development on the TALOS humanoid robot. They are now 4 working robots in the world. Torque controlled humanoid robot are still representing a significant challenge. If it is now possible to have a torque based whole body controller, walking remains difficult. Among the numerous challenging issues we would like to discuss: non-linear frictions with the harmonic drive, stability between torque control and walking control. In addition TALOS has very powerful actuation, having a high potential for powerful dynamical motion. The goal of this workshop is to exchange informations and tutorials on tools developed on this robot. In addition the TALOS robot from LAAS can be used by the European robotics community through the TERRINET European Project. The goal of this tutorial is to discuss the potential research application which can be developed on this robot.
Format : Full day