[Discourse.ros.org] [Site Feedback] Humanoids SIG Proposal

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[Discourse.ros.org] [Site Feedback] Humanoids SIG Proposal

Florian Friesdorf via ros-users


I would like to propose a new category called "Humanoids" with the following summary:

The Humanoids SIG will work to expand the core ROS capabilities for humanoid robot platforms. Humanoid platforms have bipedal mobility and/or multi-fingered manipulators that have extended capabilities that are not supported by the Navigation and MoveIt pipelines.

Please see https://discourse.ros.org/t/humanoids-sig/1949/11 for the recent discussion on the SIG.





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[Discourse.ros.org] [Site Feedback] Humanoids SIG Proposal

Florian Friesdorf via ros-users


That sounds reasonable to me. We have traction of several people.

[quote="dkotfis, post:1, topic:1994"]
The Humanoids SIG will work to expand the core ROS capabilities for humanoid robot platforms. Humanoid platforms have bipedal mobility and/or multi-fingered manipulators that have extended capabilities that are not supported by the Navigation and MoveIt pipelines.
[/quote]

I'd suggest that defining humanoids as things that are not supported by the Navigation or MoveIt pipeline is a little fragile and not really what defines a humanoid. For example I've seen demos of bipedal humanoids with multi-fintered manipulators using the navigation stack to walk.





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[Discourse.ros.org] [Site Feedback] Humanoids SIG Proposal

Florian Friesdorf via ros-users
In reply to this post by Florian Friesdorf via ros-users


@tfoote That's a fair suggestion. We should be more explicit about the technology areas within scope.

The focus should be specifically on platform-agnostic bipedal balancing/walking controllers, footstep and multi-contact motion planning frameworks (tightly integrated with those controllers), and whole-body motion planning and control (e.g. walking while manipulating).

According to wikipedia: "humanoid robots have a torso, a head, two arms, and two legs." Perhaps inclusion of multi-fingered hands would cause the SIG to be too broad.





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[Discourse.ros.org] [Site Feedback] Humanoids SIG Proposal

Florian Friesdorf via ros-users
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I was actually suggesting going the other way and being more open in the description. There are many users who may not be using a full humanoid who can improve the discussion as well as benefit from being here. For example the [Robonaut](http://robots.ros.org/robonaut2/) developers can significantly contribute to humanoid discussions relating to the torso and dual arm dexterous manipulation despite not having a humanoid base.

Generally until there gets to be too much traffic we encourage not trying to get too fine grained. If a new user comes and gets overwhelmed by too many options or too specific options they will usually give up and either go away or post in a random place the know isn't best but don't have time to find the right place.





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[Discourse.ros.org] [Site Feedback] Humanoids SIG Proposal

Florian Friesdorf via ros-users
In reply to this post by Florian Friesdorf via ros-users


How about this:

The Humanoids SIG will work to expand the core ROS capabilities for humanoid robot platforms. Areas of interest include motion planning and control for bipedal mobility, dual arm and dexterous manipulation, and coordinated whole body movement.





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[Discourse.ros.org] [Site Feedback] Humanoids SIG Proposal

Florian Friesdorf via ros-users
In reply to this post by Florian Friesdorf via ros-users


Thanks for iterating @dkotfis I've created the category

https://discourse.ros.org/c/humanoids

and edited the about post:

https://discourse.ros.org/t/about-the-humanoids-category/2092

Everyone please help seed it with content.





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[Discourse.ros.org] [Site Feedback] Humanoids SIG Proposal

Florian Friesdorf via ros-users
In reply to this post by Florian Friesdorf via ros-users


For the sake of openness, I propose using "arms" instead of "dual arms".





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