REEM-C

pal-ros-pkg/reemc.jpg

ROS Software Maintainer: PAL Robotics

REEM-C is the latest commercial humanoid robot of PAL Robotics. REEM-C is an adult size humanoid (165 cm), and it has 44 degrees of freedom, two i7 computers, force/torque and range finders on each feet, stereo camera, 4 microphones, and other devices that make REEM-C one of the best equipped research platforms today. Optionally, a depth camera can also be attached to the head. It also has already developed software for walking, grasping, navigation and human-robot interaction. REEM-C runs on ROS internally, and uses state-of-the-art ros_control and OROCOS.

More information can be found in the PAL Robotics website.

Installation

A feature-rich Gazebo simulation setup for REEM-C is freely available on PAL Robotics' github page.

Instructions on how to install can be found in the how to launch REEM-C in gazebo tutorial for ROS Hydro.

Please refer to the pal-ros-pkg page for source installation instructions for other supported ROS distributions.

Launching a Gazebo simulation

Please read the tutorials to use REEM-C in a Gazebo simulation.

Library Overview

Basic Configuration

Component

ROS package/stack

Robot model (URDF)

reemc_description

Robot controller configuration

reemc_controller_configuration

Robot bringup files

reemc_bringup

Hardware Drivers and Simulation

Component

ROS package/stack

Robot hardware simulation

reemc_hardware_gazebo

Simulation-specifig controller config

reemc_controller_configuration_gazebo

Gazebo setup

reemc_gazebo

High-Level Capabilities

Component

ROS package/stack

Execute pre-recorded motions

play_motion

Joystick teleoperation interface

joy_teleop

PAL Robotics GitHub organization

Wiki: Robots/REEM-C (last edited 2014-02-21 14:47:41 by SamPfeiffer)