ROSCon 2019 Macau: Wheeled Humanoid Hubo API
Moonyoung Lee, Yujin Heo, Saihim Cho (KAIST Institute - Hubo Lab)
The adoption of DRC competition winning humanoid platform, DRC-Hubo, is steadily expanding, with over 30 similar platforms used in various research institutes globally. While the custom RT software framework for Hubo, PODO, provides easy interface for motion generation, it lacks access for handling vision-related data. This has significantly hindered prior collaboration efforts on vision-based motion generation such as terrain navigation or manipulator collision detection. We discuss the overall development and challenges faced creating Hubo API that adopts standard ROS interfaces, facilitating motion generation of the robot over ROS.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.