Paper Info
Title
A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform.
Abstract
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.
Year
Venue
Field
2018
arXiv: Robotics
Middleware,Open platform,Software engineering,Hardware abstraction,Control engineering,Software,Engineering,Visual perception,Software framework,Robot operating system
DocType
Volume
ISSN
Journal
abs/1809.11051
Proceedings of 8th Workshop on Humanoid Soccer Robots, International Conference on Humanoid Robots (Humanoids), Atlanta, USA, 2013
Citations 
PageRank 
References 
0
0.34
5
Authors
6
Name
Order
Citations
PageRank
Philipp Allgeuer1217.85
Max Schwarz210614.96
Julio Pastrana3111.67
Sebastian Schüller4253.44
Marcell Missura54811.19
Sven Behnke61672181.84