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

International audienceWe 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 the head, while a repulsor-based task prevents self-collisions and a force-based stabilizer corrects the posture to avoid falls