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Berkeley Humanoid Robot Description (URDF)

Overview

This package contains a robot description (URDF) of Berkeley Humanoid developed by Hybrid Robotics .

License

This software is released under a BSD 3-Clause license.

Usage

Load the Berkeley Humanoidescription to the ROS parameter server:

roslaunch berkeley_humanoid_description load.launch

To visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: joint_state_publisher, joint_state_publisher_gui ,robot_state_publisher, rviz):

roslaunch berkeley_humanoid_description standalone.launch

Launch files

• load.launch: Loads the URDF to the parameter server. Meant to be included in higher level launch files.

• standalone.launch: A standalone launch file that starts RViz and a joint state publisher to debug the description.

FAQ

Q: Why doesn't the maximum torque of each joint match the values in the paper?

A: The maximum torque is limited for safety reasons.

Q: Where is the arm?

A: This version of the robot is focused on locomotion research. We are currently developing and testing the arm.