论文标题
ROS与Podo软件框架的运动生成界面用于轮毂机器人
Motion Generation Interface of ROS to PODO Software Framework for Wheeled Huamanoid Robot
论文作者
论文摘要
本文讨论了实时软件体系结构和非实时机器人操作系统之间机器人运动生成接口的开发。为了使机器人执行智能操纵或导航，需要密切集成高级感知和低级控制。但是，ROS中开发了许多可用的开源感知模块，该模块在Linux OS上运行，无法保证RT性能。这可能导致非确定性的响应和稳定问题，可能会对机器人控制产生不利影响。结果，许多机器人系统投入RTO进行低级运动控制。同样，Hubo Kaist开发的人形机器人平台使用了一个名为Podo的自定义实时软件框架。尽管Podo为运动提供了简单的接口，但它缺乏与ROS等高级框架的接口。因此，我们提出了ROS和PODO之间的新运动生成接口，使用户可以通过标准ROS消息生成运动轨迹，同时利用实时运动控制器。通过提出的通信界面，我们在实际的车型人形平台M-Hubo上演示了一系列操纵器任务。总体通信接口响应能力最多为27毫秒。
This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots to execute intelligent manipulation or navigation, close integration of high-level perception and low-level control is required. However, many available open-source perception modules are developed in ROS, which operates on Linux OS that don't guarantee RT performance. This can lead to non-deterministic responses and stability problems that can adversely affect robot control. As a result, many robotic systems devote RTOS for low-level motion control. Similarly, the humanoid robot platform developed at KAIST, Hubo, utilizes a custom real-time software framework called PODO. Although PODO provides easy interface for motion generation, it lacks interface to high-level frameworks such as ROS. As such, we present a new motion generation interface between ROS and PODO that enables users to generate motion trajectories through standard ROS messages while leveraging a real-time motion controller. With the proposed communication interface, we demonstrate series of manipulator tasks on the actual wheeled humanoid platform, M-Hubo. The overall communication interface responsiveness was at most 27 milliseconds.
