Control and Perception Architecture for the Tele-Operation ...€¦ · Control and Perception...
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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
Transcript of Control and Perception Architecture for the Tele-Operation ...€¦ · Control and Perception...
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
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ROSCon, Chicago, September 2014
COMAN & The WALK-MAN Project
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• 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
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ROSCon, Chicago, September 2014
Architecture
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Control modules: YARP based + ROS facilities
Perception modules: ROS based
Visualization & Diagnostic: ROS based
ROSCon, Chicago, September 2014
Our choice: Frameworks
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• 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
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ROSCon, Chicago, September 2014
left_arm.setPosition(qd)
left_leg.setTorque(τd)
.
.
.
left_leg.getTorque(τ)
left_arm.getVelocity(dq)
Robolli
API
COMAN Interface
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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)
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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)
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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
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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
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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
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ROSCon, Chicago, September 2014
Cameras, PC,
Cartesian Control, Status, … Module’s related commands
Module status
Pilot Interface
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ROSCon, Chicago, September 2014
+ sot_VelKinCon
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ROSCon, Chicago, September 2014
+ sot_VelKinCon
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ROSCon, Chicago, September 2014
+ Valve
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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
