Using robot operating system (ROS) and single board computer to control bioloid robot motion

Kalyani, Ganesh Kumar, Yang, Zhijun ORCID: https://orcid.org/0000-0003-2615-4297, Gandhi, Vaibhav ORCID: https://orcid.org/0000-0003-1121-7419 and Geng, Tao ORCID: https://orcid.org/0000-0002-6863-243X (2017) Using robot operating system (ROS) and single board computer to control bioloid robot motion. Towards Autonomous Robotic Systems: 18th Annual Conference, TAROS 2017, Guildford, UK, July 19–21, 2017, Proceedings. In: 18th Towards Autonomous Robotic Systems (TAROS) Conference, 19-21 July 2017, Guildford, Surrey, UK. ISBN 9783319641065. ISSN 0302-9743 [Conference or Workshop Item] (doi:10.1007/978-3-319-64107-2_4)

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Abstract

This paper presents a research study on the adaptation of a novel technique for placing a programmable component over the structural component of a Robotis Bioloid humanoid robot. Assimilating intelligence plays an important role in the field of robotics that enables a computer to model or replicate some of the intelligent behaviors of human beings but with minimal human intervention. As a part of this effort, this paper revises the Bioloid robot structure so as to be able to control the robotic movement via a single board computer Beaglebone Black (BBB) and Robot operating system (ROS). ROS as the development frame work in conjunction with the main BBB controller that integrates robotic functions is an important aspect of this research, and is a first of its kind approach. A full ROS computation has been developed by which an API that will be usable by high level software using ROS services has also been developed. The human like body structure of the Bioloid robot and BeagleBone Black running ROS along with the intellectual components are used to make the robot walk efficiently.

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