A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform
A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform
复制标题
基于 ROS 的 NimbRo-OP 人形开放平台软件框架
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Sven Behnke
中科院分区：
文献类型：
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作者：
Philipp Allgeuer;Max Schwarz;Julio Pastrana;Sebastian Schüller;M. Missura;Sven Behnke
在过去的几年里，许多成功的类人平台已经被开发出来，包括Nao和DARwIn-OP，它们都被许多研究小组用于研究两足行走、全身运动和人机交互。NimbRo- op是波恩大学NimbRo团队开发的一个开放的人形平台。这个平台比前面提到的两个类人机器人大得多，有可能与更人性化的环境进行互动。本文描述了一个基于机器人操作系统（ROS）中间件的NimbRo-OP软件框架。该软件为硬件抽象、视觉感知和行为生成提供功能，并已用于实现基本的足球技能。这些机器人在2013年机器人世界杯上被展示，作为人形联盟比赛获胜团队的一部分。
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.
使用迭代学习控制识别的伺服执行器模型实现合规机器人行为
DOI：
10.1007/978-3-662-44468-9_19
发表时间：
2014
期刊：
影响因子：
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作者：
Max Schwarz;Sven Behnke
通讯作者：
Sven Behnke