A humanoid robot is a robot with its body shape built to resemble that of the human body. A humanoid design might be for functional purposes, such as that interacting with human tools and environments, for experimental purposes,such as the study of, or for other purposes. Ingeneral,humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots may model only part of the body, for example-biped walking robot.
The main aim of creating biped walking robot is to simulate the complex progress that human walk in, to further understand how do people manage to walk with only two feet and to bring the hopefulness to those who unfortunately lost their legs in accident to stand on their feet again. There are a lot of famous biped walking robot such as Atlas developed by the American robotics company Boston Dynamics, ASIMO developed by Honda and so on. The biped walking robot can do a lot help but no pain no gain. It is obviously so hard to keep the balance of biped robot that any small tolerances will cause the falling and the damaging of robot. Such kind of loss not only occur on biped robot but also other robots.
In the class design, we want to build a biped walking robot based on Robot Operating System, calculated by Moveit! and finally visualized by Gazebo. There are mainly Four aspects to solved in this class design. First is to set up Ros (which including Gazeboal ready but still need to instal lsome control packages which will be mentioned at the following section). Second is to make an Urdf model of biped walking robot. Complicated as a biped walking robot is, at least has 12dof, the solution of kinematics and inverse kinematics is a tedious work. Moveit! is used to handle this arduous task. Moveit! with a KDL(The Kinematics and the Dynamics Library) ,incorporating the latest advances in motion planning, the manipulation, 3D perception, kinematics, control and navigation, provides an easy-to-use platform for developing advanced robotics applications, evaluating new robot designs and building integrated robotics products. After we get the solution, the finally step is to connect Gazebo with Moveit! to display and simulate the walking process.
Biped-Like Robot Modeling and Control Based on Ros
http://v.youku.com/v_show/id_XMTU5MzY3NDY3Mg==.html
