Distributed Teleoperation System for Controlling Heterogeneous Robots Based on ROS In this paper, we propose a distributed teleoperation system for controlling heterogeneous robots, which improve the problem of the communication of different kinds of robots based on the robot operating system (ROS). The system includes modules for massive data management and multilevel communication, which improves the reuse rate of software code and the flexibility of the robot hardware system by adjusting the overall architecture of the system and decoupling of software and hardware. In our experiments, the distributed control system of the heterogeneous robot was used on the distributed communication and control of the wheeled mobile robot and the humanoid robot, and the remote operation of the heterogeneous robot in the wireless network was successfully realized through the keyboard.

Motion Generation Interface of ROS to PODO Software Framework for Wheeled Humanoid Robot This paper discusses the development of robot motion generation interface between a realtime software architecture and a nonrealtime robot operating system. In order for robots to execute intelligent manipulation or navigation, close integration of highlevel perception and lowlevel control is required. However, many available opensource perception modules are developed in ROS, which operates on Linux OS that donu0027t guarantee RT performance. This can lead to nondeterministic responses and stability problems that can adversely affect robot control. As a result, many robotic systems devote RTOS for lowlevel motion control. Similarly, the humanoid robot platform developed at KAIST, Hubo, utilizes a custom realtime software framework called PODO. Although PODO provides easy interface for motion generation, it lacks interface to highlevel frameworks such as ROS. As such, we present a new motion generation interface between ROS and PODO that enables users to generate motion trajectories through standard ROS messages while leveraging a realtime motion controller. With the proposed communication interface, we demonstrate series of manipulator tasks on the actual wheeled humanoid platform, MHubo. The overall communication interface responsiveness was at most 27 milliseconds.