ROSCon 2019

Wheeled Humanoid Hubo ROS API

Moonyoung Lee, Yujin Heo, Saihim Cho

ROSCon 2019

1. Motivationl Strengths of DARPA Robotics Challenge Winning Platform (Hardware)

Locomotion (Strong Actuators)

Manipulation (Precise Control)

2

ROSCon 2019

1. Motivationl Strengths of DARPA Robotics Challenge Winning Platform (Software PODO)

3

ROSCon 2019

1. Motivationl Strengths of DARPA Robotics Challenge Winning Platform4

ROSCon 2019

1. Motivationl Strengths of DARPA Robotics Challenge Winning Platform

5

ROSCon 2019

1. Motivationl Strengths of DARPA Robotics Challenge Winning Platform

Limitations?
6

ROSCon 2019

1. Motivationl Limitations of DARPA Robotics Challenge Winning Platform
SW for tele-operation & precise control → limited framework for autonomy

7

ROSCon 2019

1. Motivationl Limitations of DARPA Robotics Challenge Winning Platform
SW for tele-operation & precise control → limited framework for autonomy

Task Manager

Object Classification
Mapping
Planning

8

ROSCon 2019

1. Motivationl Limitations of DARPA Robotics Challenge Winning Platform
SW for tele-operation & precise control → limited framework for autonomy

Object Classification
MappingAPIPlanning

9PODO

Task ManagerROSCon 2019

2. Solution : APIl Interface for Hubo platform in ROS

VisionRGB-D Camera
3D Lidar & IMU

Joint Space
Reference(angle), timeArm

Task Space
Position(x,y,z), orientation(quaternion), time

Joint trajectory
Reference array

Gripper

BaseOpen / Close
Side, command

Move goal
Position(x,y), orientation(yaw)

Velocity(x,y), orientation(yaw)

Mobile Hubo

1

ROSCon 2019

2. Solution : APIl Software Architecture
Task Planner

Goal

ActionServerAL

PODO

Motion PC

CMD
Action Goal

Motion Planner

Feedback, Result(MoveIT!)

Goal

Base

GripperArm
Trajectory points
Joint reference

Action Feedback & ResultRobot State

Trajectory

LAN COMMUNICATION

ALROS

Vision PC

Action Client

Arms, Gripper, Base Control @ 200Hz

CMD, Action Goal, Trajectory

CMD, Action Goal, Trajectory

Shared Memory𝜃𝑟𝑒𝑓[𝑛]𝜃𝑐𝑢𝑟𝑟𝑒𝑛𝑡[𝑛]Encoder

Motor Controller @ 1 kHz

11ROSCon 2019

2. Solution : APIl Software Architecture
Task Planner

ROS

Vision PC

Action Client
Goal

Motion Planner

Feedback, Result(MoveIT!)

Goal

ActionServerBase

GripperArm
Trajectory points
Joint reference

LAN COMMUNICATION

AL

AL

PODO

Motion PC

MoveX = 1.0m
Action Goal

Arms, Gripper, Base Control @ 200Hz
CMD, Action Goal, Trajectory

CMD, Action Goal, Trajectory

Shared Memory𝜃𝑟𝑒𝑓[𝑛]𝜃𝑐𝑢𝑟𝑟𝑒𝑛𝑡[𝑛]Encoder

Motor Controller @ 1 kHz

12

ROSCon 2019

2. Solution : APIl Software Architecture
Task Planner

Goal

ALPODO(MoveIT!)

Goal

ActionServerBaseGripper

Arm
Trajectory points
Joint reference

Joint q[n]Action Goal

Motion PC

Motion Planner

Feedback, Result

LAN COMMUNICATION

At 200 Hz?
AL

ROS

Vision PC

Action Client

Arms, Gripper, Base Control @ 200Hz
CMD, Action Goal, Trajectory

CMD, Action Goal, Trajectory

Shared Memory𝜃𝑟𝑒𝑓[𝑛]𝜃𝑐𝑢𝑟𝑟𝑒𝑛𝑡[𝑛]Encoder

Motor Controller @ 1 kHz

13

ROSCon 2019

3. Problem: Delayl Communication Delay between ROS and PODO

Action Client

ROS

Vision PC

22 ms

Motion Planner(MoveIT!)

27 ms

Action ServerArms, Gripper,
Base Control

PODO

Motion PC

LAN COMMUNICATION

22 ms

27 ms

Shared Memory

1. Total communication delay: 22 ms (on average)
2. Delay inconsistency from NRT & RT communication

ROSCon 2019

3. Problem
3 Transmit time of the packet from ROS to PODO

ROS

Vision PC

Action Client
Motion Planner(MoveIT!)

Action Server
200Hz sendGoal

Arms, Gripper,
Base Control

PODO

Motion PC

LAN COMMUNICATION

Shared Memory

15

ROSCon 2019

3. Problem
4 The method chosen to minimize the impact of delays

High-frequency-request

Single-request
Interpolation

16

ROSCon 2019

4. Result

17

ROSCon 2019

4. Result

Trajectory Planning:

Whole Body Collision Checking

Machine Learning:

Learn from Human Imitation

Task Manager:

Service Robot Application
18

ROSCon 2019

5. Future workl Robot independent API with autonomy

19

Acknowledgements

Robot built by KAIST Hubo Lab & Rainbow Robotics ©
Funded by Ministry of Trade, industry & Energy(MI, Korea)