Motion Generation Interface of ROS to PODO Software Framework for Wheeled Huamanoid Robot

TL;DR

This paper introduces a new interface connecting ROS, a high-level perception framework, with PODO, a real-time motion controller, enabling efficient motion generation for wheeled humanoid robots like M-Hubo.

Contribution

The paper presents a novel communication interface between ROS and PODO, facilitating high-level motion commands to real-time control systems in humanoid robots.

Findings

Interface responsiveness up to 27 milliseconds

Successful execution of manipulator tasks on M-Hubo

Enhanced integration of perception and control systems

Abstract

This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots to execute intelligent manipulation or navigation, close integration of high-level perception and low-level control is required. However, many available open-source perception modules are developed in ROS, which operates on Linux OS that don't guarantee RT performance. This can lead to non-deterministic responses and stability problems that can adversely affect robot control. As a result, many robotic systems devote RTOS for low-level motion control. Similarly, the humanoid robot platform developed at KAIST, Hubo, utilizes a custom real-time software framework called PODO. Although PODO provides easy interface for motion generation, it lacks interface to high-level frameworks such as ROS. As such, we present a new motion generation interface between ROS and PODO that enables users to generate motion trajectories through standard ROS messages while leveraging a real-time motion controller. With the proposed communication interface, we demonstrate series of manipulator tasks on the actual wheeled humanoid platform, M-Hubo. The overall communication interface responsiveness was at most 27 milliseconds.