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首页> 外文期刊>Frontiers in Robotics and AI >A Comprehensive Software Framework for Complex Locomotion and Manipulation Tasks Applicable to Different Types of Humanoid Robots
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A Comprehensive Software Framework for Complex Locomotion and Manipulation Tasks Applicable to Different Types of Humanoid Robots

机译：适用于不同类型人形机器人的复杂运动和操纵任务的综合软件框架

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While recent advances in approaches for control of humanoid robot systems show highly promising results, consideration of fully integrated humanoid systems for solving complex tasks such as disaster response has only gained focus recently. In this work, a software framework for humanoid disaster response robots is introduced. It provides newcomers as well as experienced researchers in humanoid robotics a comprehensive system comprising open source packages for locomotion, manipulation, perception, world modeling, behavior control, and operator interaction. The system uses the Robot Operating System (ROS) as a middleware, which has emerged as a de-facto standard in robotics research in recent years. The described architecture and components allow for flexible interaction between operator(s) and robot from teleoperation to remotely supervised autonomous operation while considering bandwidth constraints. The components are self--contained and can be used either in combination with others or standalone. They have been developed and evaluated during participation in the DARPA Robotics Challenge and their use for different tasks and parts of this competition are described.
机译：虽然最近的类人机器人系统控制方法取得了令人鼓舞的结果，但是考虑到完全集成的类人系统来解决诸如灾难响应之类的复杂任务才是最近的焦点。在这项工作中，介绍了用于人形灾难响应机器人的软件框架。它为类人机器人学的新手和经验丰富的研究人员提供了一个全面的系统，其中包括用于运动，操纵，感知，世界建模，行为控制和操作员交互的开源软件包。该系统使用机器人操作系统（ROS）作为中间件，近年来，它已成为事实上的机器人研究标准。所描述的体系结构和组件允许在考虑带宽约束的同时，在操作员和机器人之间进行灵活的交互，从远程操作到远程监督的自主操作。这些组件是独立的，可以与其他组件结合使用，也可以独立使用。在参加DARPA机器人挑战赛期间已经对它们进行了开发和评估，并描述了它们在不同任务和比赛中的用途。

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