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E. Mingo Hoffman, A. Rocchi, A. Settimi, M. Ferrati, C. Pavan, A. Ajoudani, J. Lee, Z. Li, L. Muratore, A. Cardellino, N. G. Tsagarakis
and all the WALK-MAN Team
ROSCon
12-13 September 2014,
Chicago
Control and Perception Architecture for the Tele-Operation of Humanoid Robot
COMAN
2
ROSCon, Chicago, September 2014
COMAN & The WALK-MAN Project
3
• semi – autonomous
• operational space tasks
• robust
• basic environment recognition
• monitoring & diagnostic
• different levels of control
• high computational power
Command & Control Station
Humanoid Rescue Robot
ROSCon, Chicago, September 2014
Scenario
4
ROSCon, Chicago, September 2014
Architecture
5
Control modules: YARP based + ROS facilities
Perception modules: ROS based
Visualization & Diagnostic: ROS based
ROSCon, Chicago, September 2014
Our choice: Frameworks
6
• Ports, RPCs, Interfaces
• TCP/IP, UDP, ShMem, …
• Typed/Non-Typed ports
• Successfully used in iCub and
many other robots
A B /a /b
yarp.connect(‘/a’, ‘/b’)
ROSCon, Chicago, September 2014
http://wiki.icub.org/yarp/
YARP
7
ROSCon, Chicago, September 2014
left_arm.setPosition(qd)
left_leg.setTorque(τd)
.
.
.
left_leg.getTorque(τ)
left_arm.getVelocity(dq)
Robolli
API
COMAN Interface
8
ROSCon, Chicago, September 2014
left_arm.setPosition(qd)
.
.
.
API
https://github.com/robotology/gazebo-yarp-plugins
gazebo_yarp_plugins
left_leg.setTorque(τd)
left_arm.getVelocity(dq)
left_leg.getTorque(τ)
9
RF Module
Rate Thread config Param
Helper
start/stop/pause
module status
input output
• Internal model of the robot (URDF + SRDF,
REP 120)
• Decentralized IK/FK + ID (iDynTree)
• All kinematic chains controllable
threadInit() { … }
run() { getFeedback()
updateModel()
ctrlLaw()
move()}
close() { … }
ROSCon, Chicago, September 2014
https://github.com/robotology-playground/idyntree
Control Modules (YARP)
10
ROSCon, Chicago, September 2014
Walking Module + Stabilizer
Openni2 Driver
DSP DSP DSP
Boards Status
WB IK Engine
Trj. Generator
COMAN Interface
PC, Images, Video
Actions
Actions
YARPSERVER
ROSCORE
Sensors & Boards Status
Robot Modules
11
Pilot Interface
tf
robot_state_publisher
Boards Status
robot_state_publisher_ext
CoM, …
PC, Images, Video
Robot Status Actions
Cartesian Ref
q ref
yarp_ros_joint_state_publisher
yarp_ros_wrench_imu_publisher
ROSCon, Chicago, September 2014
Command & Control Station Modules
12
ROS Node similar to robot_state_publisher
with more informations related to
Humanoid Robots:
• CoM Position
• CoM Projection
• Convex Hull
• CoP
• …
ROSCon, Chicago, September 2014
robot_state_publisher_ext
13
ROSCon, Chicago, September 2014
Cameras, PC,
Cartesian Control, Status, … Module’s related commands
Module status
Pilot Interface
14
ROSCon, Chicago, September 2014
+ sot_VelKinCon
15
ROSCon, Chicago, September 2014
+ sot_VelKinCon
16
ROSCon, Chicago, September 2014
+ Valve
17
ROSCon, Chicago, September 2014
Conclusion & Future Work
• Future Work
• Network management
• Advanced perception
• More autonomy in task execution
• Automatic generation of modules
• Final Remarks
• Dedicated build system (SuperBuild)
• Automatic generation of URDF/SRDF