DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Moonyoung | ko |
dc.contributor.author | Heo, Yujin | ko |
dc.contributor.author | Cho, Saihim | ko |
dc.contributor.author | Park, Hyunsub | ko |
dc.contributor.author | Oh, Jun-Ho | ko |
dc.date.accessioned | 2023-07-05T05:00:14Z | - |
dc.date.available | 2023-07-05T05:00:14Z | - |
dc.date.created | 2023-06-08 | - |
dc.date.created | 2023-06-08 | - |
dc.date.issued | 2019-12 | - |
dc.identifier.citation | 19th International Conference on Advanced Robotics, ICAR 2019, pp.456 - 461 | - |
dc.identifier.uri | http://hdl.handle.net/10203/310308 | - |
dc.description.abstract | 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. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Motion generation interface of ROS to PODO software framework for wheeled humanoid robot | - |
dc.type | Conference | - |
dc.identifier.wosid | 000542960700071 | - |
dc.identifier.scopusid | 2-s2.0-85083083716 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 456 | - |
dc.citation.endingpage | 461 | - |
dc.citation.publicationname | 19th International Conference on Advanced Robotics, ICAR 2019 | - |
dc.identifier.conferencecountry | BL | - |
dc.identifier.conferencelocation | Belo Horizonte | - |
dc.identifier.doi | 10.1109/ICAR46387.2019.8981593 | - |
dc.contributor.localauthor | Oh, Jun-Ho | - |
dc.contributor.nonIdAuthor | Lee, Moonyoung | - |
dc.contributor.nonIdAuthor | Heo, Yujin | - |
dc.contributor.nonIdAuthor | Cho, Saihim | - |
dc.contributor.nonIdAuthor | Park, Hyunsub | - |
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