Robot Overview - SAR-Research-Lab/R2ED_humanoid GitHub Wiki
The humanoid robot consists of a body torso with arms, hands, head, and a mobile platform. The German company Schunk makes the arms and hands and the mobile platform is a Ridgeback from Clearpath. The head can have a camera installed in the visor and the Ridgeback has a laser scanner. The robot can be simulated in Gazebo and Rviz.
LWA 4P 6 DOF Arm
Both arms are the Schunk LWA 4P models which use a CAN USB card for connectivity.
Hands
There are two types of hands for the humanoid: five digit SVH, and three digit SDH. The Schunk SVH is a five digit hand that mimics a human hand however it is complex to use. The three digit hand is the Schunk SDH and consists of two fingers and one thumb. The three digits are similar.
Ridgeback Mobile Platform
The Clearpath Ridgeback is an omnidirectional platform equipped with a front facing lidar.
Backlift
The humanoid body is mounted on a adjustable backlift which is connected to the top of the Ridgeback allowing for height adjustment.
Neck
The neck joint is vertically adjustable.
Head Camera
The visor opening in the head can hold a camera such as a RGB or Kinetic camera for depth preception.
Transform Frame Tree
The fully formed Humanoid involves a large number of joints. To gain a better understanding of how the Humanoid robot is constructed download the very large TF frame tree(1.9MB)
