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The OpenHubo is an OpenRAVE robot model based on KAIST's KHR-4 Hubo Humanoid.
To set up and use this model, you will need:
- git
- Ubuntu 10.04 or 12.04 (others may work, but sometimes have weird issues with available packages and such)
- Openrave 0.6.6 (or at least 0.6.x) installed ([setup](http://openrave.org/docs/latest_stable/install/#install))
Clone the repository to a convenient location:
git clone --recursive git://github.com/daslrobotics/openHubo.git
OpenHubo comes bundled with several useful plugins:
- OpenMR, a servo controller for physics simulations
- simForceSensor, a force sensor plugin that acts as a 6-DOF F/T sensor for force control and sensing.
- CoMPS, a collection of plugins to do RRT-based trajectory planning, manipulation, and general-purpose inverse kinematics calculations.
source setup-plugins.sh
This downloads the above plugins as git submodules, and builds/installs the plugins to a local folder. Once the plugins are built, you can verify that openrave can use them by listing available plugins:
openrave --listplugins
Keep in mind when using this model that there are a few major limitations that are being addressed:
Interaction physics between bodies is not quite realistic due to the limitations of ODE. There seems to be no damping applied to joints between bodies. This can be seen by running the Physics test:
python testPhysics.py
Unfortunately, the limbs bounce around unrealistically long due to the aforementioned lack of damping.
Contact friction does not seem to be strong enough to prevent the robot from sliding over the ground. To see this, run the servo test:
`python testServo.py`
This example shows a torso-twist motion that should simply oscillate the torso back and forth. However, the feet slide easily over the ground, showing little if any friction losses.
The hands currently are a single body, represented as a convex hull, and so are not useful for grasping. The CAD geometry for these models is available, however, and the complete hands will be available in the upcoming OpenHubo-0.4.0