https://github.com/advrhumanoids/centauro_tools
This package provides tools for the control of the centauro robot!
Science Score: 13.0%
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○Scientific vocabulary similarity
Low similarity (7.2%) to scientific vocabulary
Repository
This package provides tools for the control of the centauro robot!
Basic Info
- Host: GitHub
- Owner: ADVRHumanoids
- Language: C++
- Default Branch: master
- Size: 108 KB
Statistics
- Stars: 0
- Watchers: 4
- Forks: 1
- Open Issues: 2
- Releases: 0
Metadata Files
README.md
centauro_tools
This package provides tools for the control of the centauro robot!
SimpleWheeledMotion
CartesianInterface implementation for the wheeled motion of the Centauro robot. It supports: - control of waist frame X/Y/Z/rotZ through wheeled motion - control of wheels position X/Y w.r.t. waist frame - control of hands w.r.t. waist frame
TerrainAdatpationPoses
Python script that sends references to the CartesianInterface SimpleWheeledMotion plugin
in order to simultaneously change the support polygon shape as well as the waist height.
Due to Centauro's hip yaw joint limitations, it works best from a spider-like homing.
The script TerrainAdaptationStateMachine.py consists of a basic smach state machine.
From the IDLE state, the user can send three commands:
- up_stretch
- down_mid
- down_low
in order to change Centauro's support polygon and shape.
For tuning such motions, refer to the TerrainAdaptationPoses.py script.
In general, all motions are achieved by sending suitable goal messages to the CartesianInterface
ROS action server; so, they can be easily incorporated in external python/c++ pieces of code (have
a look at the code!)
NOTE to change the homing configuration, go to the current SRDF file and modify the home group state. The "spider-like" homing can usually be found right after the mammal one (commented out). Remember to apply the change both on the robot embedded pc AND on the control pc.
Owner
- Name: ADVR Humanoids
- Login: ADVRHumanoids
- Kind: organization
- Email: luca.muratore@iit.it
- Location: Istituto Italiano di Tecnologia
- Website: https://www.iit.it/lines/humanoids-human-centered-mechatronics
- Repositories: 206
- Profile: https://github.com/ADVRHumanoids
Humanoids & Human Centered Mechatronics, HHCM, IIT
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Top Authors
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- liesrock (1)
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- xqms (1)