Implementation of IMU-based Balanced Motion using ROS for EROS Humanoid Soccer Robot

摘要

Humanoid robots are robots formed based on the human body and capable of interacting with equipment and environments made for humans. In designing a humanoid robot, the balance of the robot is a fundamental thing to carry out various activities. The control establishment runs on the ROS platform with the target of getting stable running. The system construction design is carried out to connect the ROS platform with the robot. The design of software construction starting from virtual robot visualization can be done by creating a simulator that contains dynamic parameters. The humanoid robot movement can be tried many times until the robot movement is robust with the simulation. A simulator containing dynamic z parameters can be created by applying the URDF Model to the Gazebo simulator and supported by the ROS framework. Feedback in the form of position and torque is needed to determine the difference between simulation and reality. The feedback is also to find out the truth of the virtual robot visualization. Simulations can be carried out without cost, risk, and most importantly mimic the real robot soccer environment and tested in real conditions.