3P1-G07 Evaluation Platform of Humanoid Robot using Robot Simulation Environment Supported by Gazebo/ROS and OpenRTM(Medical Robotics and Mechatronics (2))

Abstract

System for using a humanoid robot is very complex. Evaluation platform through humanoid robot design to high level software application is required. In this paper, Gazebo (robot dynamics simulator), OpenRTM and ROS (robot middle ware) are adopted as a evaluation platform. Robot model conversion system and connecting Gazebo and OpenRTM/ROS as holding convertibility between a real robot and a simulator are provided as open source software. And, method for transparent integrating software is discussed.