NimbRo-OPヒューマノイド向けROSソフトウェアフレームワーク
A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform
NimbRo-OPヒューマノイドのためのROSベースのソフトウェア基盤を構築し、ハードウェア抽象化・視覚認識・行動生成を実装してサッカー技能を実現した。
著者: Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Marcell Missura, Sven Behnke
分類: cs.RO
原文アブストラクト
Over the past few years, a number of successful humanoid platforms have been developed, including the Nao and the DARwIn-OP, both of which are used by many research groups for the investigation of bipedal walking, full-body motions, and human-robot interaction. The NimbRo-OP is an open humanoid platform under development by team NimbRo of the University of Bonn. Significantly larger than the two aforementioned humanoids, this platform has the potential to interact with a more human-scale environment. This paper describes a software framework for the NimbRo-OP that is based on the Robot Operating System (ROS) middleware. The software provides functionality for hardware abstraction, visual perception, and behavior generation, and has been used to implement basic soccer skills. These were demonstrated at RoboCup 2013, as part of the winning team of the Humanoid League competition.
