Learning humanoid with ROS + Bioloid

[Mathieu]

Hi All,

Thanks for creating this new discussion cateogry.
I am learning ROS and getting my hands dirty with a bioloid humanoid robot as a hobby.

I have created a PCB board that has 4 FSR sensors on each feet to calculate the ZMP to improve balance.
I am using RPI2 but will probably need to upgrade as more sensors will be added.

Various repo I am re-using for the humanoid:

• controller from Dave Coleman:
  https://github.com/davetcoleman/ros_control_boilerplate
• inspired state machine from these guys:
  https://github.com/cogniteam/decision_making
• navio+
  https://github.com/emlid/Navio
• inspired from those repo from humarobotics
  https://github.com/HumaRobotics/darwin_gazebo
• various inhouse repos to put things together.

I look forward to the various discussions regarding humanoid full stack and improvement to current packages dedicated to humanoid in order to prevent having to re-invent the wheel.

cheers,
-Mathieu

[Mathieu]

Some picture of the robot.

[morman]

Hey
I am also working on my humanoid. Could you guide me on how to control my dynamixels and walk my robot? Please help.
Thanks

[Teo_Cardoso]

Dynamixels has a ros package really good.
Creating config files ( yaml ), you’re able to control as you control joints on gazebo.

dynamixel_controllers/Tutorials - ROS Wiki

And to install everything else needed: DYNAMIXEL Workbench

These ones are the steps to control the Dynamixel’s motors. However, for walking movement is necessary to study more.

[Le0nX]

Wow! Could you tell us more about FSR implementation please!