Words2Contact: Identifying Support Contacts from Verbal Instructions Using Foundation Models - 2024-11-22 - Research Publication - This paper presents Words2Contact, a language-guided multi-contact placement pipeline leveraging large language models and vision language models. Our method is a key component for language-assisted teleoperation and… - source: doi.org
TALOS torque-controlled locomotion in unknown environments - 2023-12-30 - Research Publication - PAL and TOWARD describe an onboard TALOS locomotion system combining LiDAR mapping, contact planning, predictive control and inverse dynamics. Their physical demonstration climbs 15 cm stairs without a prior terrain map… - source: pal-robotics.com
Practical whole-body elasto-geometric calibration of a humanoid robot: Application to the TALOS robot - 2023-06-01 - Research Publication - The paper applies whole-body elasto-geometric calibration methods to the TALOS humanoid robot. - source: doi.org
Benchmarking Whole‐Body Controllers on the TALOS Humanoid Robot - 2022-03-04 - Research Publication - This article presents a comparison of three control schemes applied on the commercially available TALOS humanoid robot. - source: doi.org
Whole-body teleoperation of the Talos humanoid robot: preliminary results - 2021-05-30 - Research Publication - Maps an operator’s motion-capture measurements to Cartesian hand targets for the TALOS robot. Uses a task-based inverse-dynamics controller while accounting for balance, self-collision and the robot’s kinematic… - source: inria.hal.science
Variational Inference with Mixture Model Approximation for Applications in Robotics - 2020-05-01 - Research Publication - We propose to formulate the problem of representing a distribution of robot configurations (e.g. joint angles) as that of approximating a product of experts. Our approach uses variational inference, a popular method in… - source: doi.org
Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots - 2020-01-01 - Research Publication - This paper describes the implementation of a canonical motion generation pipeline guided by vision for a TALOS humanoid robot. The proposed system is using a multicontact planner, a Differential Dynamic Programming (DDP)… - source: doi.org
TALOS models for Stack of Tasks - Research Publication - The Stack of Tasks TALOS collection supplies plain URDFs, launch scripts and flexible-joint simulation support for motion generation and planning. It includes a Gazebo spring plugin and configurable starting poses. - source: github.com