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