TALOS
TALOS/TALOS_frontal.jpg "TALOS_frontal.jpg")
ROS Software Maintainer: PAL Robotics
TALOS is a commercial humanoid robot of PAL Robotics. TALOS is an adult size humanoid (175 cm / 95 kg), two i7 computers, force/torque sensors on each feet and wrist, Full torque sensor feedback in all the joints, RGB-D camera, inertial measurement unit, 2 speakers, and other devices that make TALOS one of the best humanoid research platforms today. This humanoid robot can lift up to 6 Kg with one stretched arm, is fully electrical and 100% ROS based. It also has already developed software for torque control based walking, perception, manipulation, navigation and human-robot interaction which allows it to execute a wide variety of tasks. TALOS runs on ROS internally, and uses state-of-the-art ros_control and OROCOS. This humanoid robot has a payload of 6 Kg with each arm fully extended, because it was designed having in mind the use of heavy industrial tools. This capacitates the robot for effectively perform tasks in environments such as the Factory of the Future. The bipedal humanoid TALOS is fully torque-controllable thanks to the torque sensor feedback in all joints, which enables powerful sensing and multi-contact motions.
For technical questions regarding the public simulation of the robot please write to support@pal-robotics.com .
If you wish to know more or request a quote, please send us a message orvisit our website.
Contents
Videos
Introducing TALOS
TALOS - Torque Controlled Balancing
Gallery
A picture is worth a thousand words:
TALOS/TALOS%20discobolus.png "TALOS discobolus.png")
TALOS/TALOS_side.png "TALOS_side.png")
TALOS/TALOS_transparent_whole_body.png "TALOS_transparent_whole_body.png")
TALOS/TALOS_head_looking_right.png "TALOS_head_looking_right.png")
Tutorials
A feature-rich Gazebo simulation setup for TALOS is freely available on PAL Robotics' github page.
Instructions on how to install can be found in the TALOS tutorials for ROS Melodic.
Public simulation packages overview
This section presents an overview of the packages used in the public simulation of TALOS, with links to the corresponding wiki pages describing the packages. For the installation instructions of the packages please refer to TALOS tutorials.
1. Robot model
Component
ROS package/stack
Robot model (URDF)
talos_description
Robot controller configuration
talos_controller_configuration
Robot bringup files
talos_bringup
2. Simulation files
Component
ROS package/stack
Robot hardware simulation
talos_hardware_gazebo
Robot controller configuration for Gazebo
talos_controller_configuration_gazebo
Robot Gazebo models, worlds and launch scripts
talos_gazebo
Gazebo plugins
pal_gazebo_plugins
3. Hardware Drivers for simulation
Component
ROS package/stack
Hardware drivers
pal_hardware_gazebo
4. Messages
Component
ROS package/stack
PAL specific messages
pal_msgs
5. Controllers
Component
ROS package/stack
ros_control overlay
ros_control
ros_controllers overlay
ros_controllers
gazebo_ros_control overlay
gazebo_ros_control
6. High-Level Capabilities
Component
ROS package/stack
Play back of pre-defined motions
play_motion
Joystick teleoperation interface
joy_teleop
MoveIt! package
talos_moveit_config
Point head action
head_action