Software Architecture and Development for Controlling a Hubo Humanoid Robot

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Open Access Theses Theses and Dissertations
Spring 2014
Software Architecture and Development for
Controlling a Hubo Humanoid Robot
Manas Ajit Paldhe
Purdue University
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Graduate School ETD Form 9
(Revised 12/07)
PURDUE UNIVERSITY
GRADUATE SCHOOL
Thesis/Dissertation Acceptance
This is to certify that the thesis/dissertation prepared
By Manas Paldhe
Entitled
Software Architecture and Development for Controlling a Hubo Humanoid Robot
For the degree of Master of Science in Electrical and Computer Engineering
Is approved by the final examining committee:
CHUN-SING GEORGE LEE

Chair
CHENG-KOK KOH

YUNG-HSIANG LU

To the best of my knowledge and as understood by the student in the Research Integrity and
Copyright Disclaimer (Graduate School Form 20), this thesis/dissertation adheres to the provisions of
Purdue University’s “Policy on Integrity in Research” and the use of copyrighted material.

CHUN-SING GEORGE LEE
Approved by Major Professor(s): ____________________________________
____________________________________
Approved by: M. R. Melloch 04-17-20 14
Head of the Graduate Program Date
SOFTWARE ARCHITECTURE AND DEVELOPMENT FOR CONTROLLING A
HUBO HUMANOID ROBOT
A Thesis
Submitted to the Faculty
of
Purdue University
by
Manas Paldhe
In Partial Fulfillment of the
Requirements for the Degree
of
Master of Science in Electrical and Computer Engineering
May 2014
Purdue University
West Lafayette, Indiana
ii
This thesis is dedicated to my dear parents.
iii
ACKNOWLEDGMENTS
Foremost, I would like to express my gratitude to my advisor Prof. C. S. George
Lee, for his guidance and encouragement throughout my research work. I cannot
imaginehavingabetteradvisorandmentorformyresearch. IalsowishtothankProf.
Cheng-Kok Koh and Prof. Yung-Hsiang Lu for serving on my Advisory Committee.
I am thankful to my lab-mates at the Assistive Robotics Technology Laboratory
(ARTLab): Roy Chan, Yan Gu and Andy Park, for stimulating discussions and
their support. I also want to thank my friends Jingru Luo and Yajia Zhang at the
Intelligent Motion Laboratory, Indiana University, Michael Grey and Pete Vieira at
the Humanoid Robotics Lab, Georgia Institute of Technology, and Robert Ellenberg
and Daniel Lofaro at the Drexel Autonomous Systems Laboratory, Drexel University
for sharing their software and helping me with my problems throughout this research
work.
I also want to thank my family and friends for their supports. I am indebted to
them for constant motivation.
Last but not the least, I would like to thank the Defense Advanced Research
ProjectsAgency(DARPA)andtheNationalScienceFoundation(NSF)forsponsoring
this research. This work was supported in part by the DARPA award # N65236-12-
1-1005 for the DARPA Robotics Challenge (DRC) and by the NSF under Grant
CNS-0960061. Any opinion, findings, and conclusions or recommendations expressed
in this material are those of the author and do not necessarily reflect the views of
DARPA and the NSF.
iv
TABLE OF CONTENTS
Page
LIST OF TABLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
LIST OF FIGURES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
ABSTRACT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
1 INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 Related work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.4 Impact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.5 Organization of the thesis . . . . . . . . . . . . . . . . . . . . . . . 16
2 OVERVIEW OF HUBO2+ HUMANOID ROBOT . . . . . . . . . . . . . 18
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2 Mechanical structure and representation of Hubo2+ robot . . . . . 19
2.3 Electronic and electro-mechanical modules of the Hubo2+ robot . . 24
2.4 Integration of all electronic and electro-mechanical modules into one
system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3 ARCHITECTUREOFHUBO-ACH:ALOWLEVELHUMANOIDROBOT
CONTROLLER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.2 Purpose of hubo-ach . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.3 Architecture of ROS . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.3.1 Overview of ROS . . . . . . . . . . . . . . . . . . . . . . . . 39
3.3.2 Analysis of non-real-time behavior of ROS . . . . . . . . . . 41
3.3.3 Application of ROS . . . . . . . . . . . . . . . . . . . . . . . 42
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3.4 Architecture of hubo-ach . . . . . . . . . . . . . . . . . . . . . . . . 43
3.4.1 Overview of hubo-ach . . . . . . . . . . . . . . . . . . . . . . 43
3.4.2 Ach: Inter-process communication (IPC) library . . . . . . . 47
3.4.3 Data structures . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.4.4 Abstracting communication . . . . . . . . . . . . . . . . . . 57
3.4.5 Organizational flow of hubo-ach . . . . . . . . . . . . . . . . 60
3.5 Hubo-console and Hubo-read: Wrappers around hubo-ach . . . . . . 65
3.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4 ARCHITECTUREOFHUBO-MOTION-RT:AHIGHLEVELHUMANOID
ROBOT CONTROLLER . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.2 Purpose of hubo-motion-rt . . . . . . . . . . . . . . . . . . . . . . . 69
4.3 Architecture of hubo-motion-rt . . . . . . . . . . . . . . . . . . . . 71
4.3.1 Overview of hubo-motion-rt . . . . . . . . . . . . . . . . . . 71
4.3.2 Abstracting out ach communication for sensor feedback . . . 73
4.3.3 Joint velocity control and torque control . . . . . . . . . . . 74
4.3.4 Gravity compensation . . . . . . . . . . . . . . . . . . . . . 79
4.3.5 Balance controller . . . . . . . . . . . . . . . . . . . . . . . . 84
4.3.6 Integration of all controllers into one package . . . . . . . . 85
4.4 Writing custom software using hubo-motion-rt . . . . . . . . . . . . 88
4.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5 APPLICATIONS AND USAGE OF HUBO-ACH AND HUBO-MOTION-
RT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
5.2 Teleoperation of a robot . . . . . . . . . . . . . . . . . . . . . . . . 91
5.3 Hubo-read-trajectory . . . . . . . . . . . . . . . . . . . . . . . . . . 92
5.4 Hubo-neck . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
5.5 Hubo-init . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.6 Gravity-compensation-based trajectory following . . . . . . . . . . . 98
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5.7 ROS hubo ach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
5.8 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
6 EXPERIMENTAL WORK ON DRC-HUBO TO TEST HUBO-ACH AND
HUBO-MOTION-RT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
6.2 Analysing the use of force/torque sensors for detecting grasping . . 105
6.3 Ladder climbing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
6.3.1 Motion planning for ladder climbing . . . . . . . . . . . . . . 108
6.3.2 Execution of the planned trajectory . . . . . . . . . . . . . . 114
6.3.3 Climbing using only position-control mode . . . . . . . . . . 115
6.3.4 Climbing using only PWM-control mode in the upper-body of
the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
6.3.5 Climbing partly using position-control and partly using PWM-
control mode . . . . . . . . . . . . . . . . . . . . . . . . . . 116
6.4 DARPA Robotics Challenge- 2013 Trials . . . . . . . . . . . . . . . 120
6.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
7 CONCLUSION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
7.2 Analysis of the performance of the software packages . . . . . . . . 123
7.3 Analysis of the experimental work . . . . . . . . . . . . . . . . . . . 128
7.4 Future work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
LIST OF REFERENCES . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
A D-H REPRESENTAION AND TRANSFORMATION MATRICES . . . 137
A.1 D-H Representation and forward kinematics . . . . . . . . . . . . . 137
A.2 Inverse kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
B DYNAMIC COMPUTATIONS . . . . . . . . . . . . . . . . . . . . . . . 144
B.1 Jacobian matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
B.2 Newton-Euler computations . . . . . . . . . . . . . . . . . . . . . . 146
C HUBO-ACH MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
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C.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
C.2 Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
C.3 Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
D HUBO-MOTION-RT MANUAL . . . . . . . . . . . . . . . . . . . . . . . 151
D.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
D.2 Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
D.3 Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
E HUBO-READ-TRAJECTORY MANUAL . . . . . . . . . . . . . . . . . 154
E.1 Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
E.2 Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
F HUBO-INIT MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
F.1 Usage: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
F.2 Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
viii
LIST OF TABLES
Table Page
1.1 Design philosophies of Hubo-ach, ROS, and MRDS. . . . . . . . . . . . 12
2.1 Specification of Hubo2+ humanoid robot in ARTLab. . . . . . . . . . 20
5.1 Comparison of various remote access software. . . . . . . . . . . . . . . 97
6.1 Comparison of various ladders. . . . . . . . . . . . . . . . . . . . . . . 115
6.2 Comparison of the three ladder climbing strategies. . . . . . . . . . . . 118
A.1 D-H Parameter of Hubo2+ robot’s right arm. These parameters are used
to compute forward and inverse kinematic solutions. . . . . . . . . . . . 138
A.2 D-H Parameter of Hubo2+ robot’s right leg. These parameters are used
to compute forward and inverse kinematic solutions. . . . . . . . . . . . 139