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I would like to create a custom full-body humanoid biped using ROS/Gazebo. Are there any examples of how to do this? Is there a baseline humanoid example from which to build upon?
Thanks
TurtleBot_Fan
The two available humanoid models that come to my mind are the Nao and Romeo description. These currently offer no gazebo support. Simulating a full body humanoid is a challenging simulation task (at least when not cheating by artificially nailing the standing foot to the floor or using other hacks). As far as I´m aware, there is no solution for gazebo available at the moment, so you either have the option to try it out yourself or wait a little, as Gazebo will likely be significantly improved in this direction in the future for the DARPA robotics challenge.
Another related option would be to have a look at the OpenHRP3 simulator, which works very well for humanoid robot simulation (but has no ROS interface). /edit: As described in the comment below, there is a ROS interface available.
we have openhrp3 ros interface under rtm-ros-robotics repository, see http://code.google.com/p/rtm-ros-robotics/wiki/ROS_English for more info. Any feedback, comment, request are welcome.
As of 2020...
It's a shame these useful resources are unmaintained...
I want to know : today(november 2012) is there a humanoid robot model, in gazebo? does The above answer ("no") is still correct?
You should sign-up at answers.gazebosim.org and join the mailing list to keep up to date: gazebosim.org/support.html Also see the DRC humanoid tutorials at: http://gazebosim.org/wiki/DRC/Tutorials
Thank you! .I downloaded the nao_ common directory. I openned the urdf file in the "/nao_common/nao_description/urdf" directory: roslaunch urdf_tutorial xacrodisplay.launch model:=nao_robot_v4.urdf.xacro .Then i could see the robot links, but i didnt see the sensors, where are those sensors?
@dbworth, @Stefan Kohlbrecher Thank you for the answers. I would like to know do you know the answer about the above question? where are the Nao URDF sensors, and how can i work with those sensors(gyro , accelerometer, force sensors) on a simulator?
Asked: 2012-05-10 17:34:27 -0600
Seen: 3,877 times
Last updated: Jun 21 '20
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