I’m looking to start a SIG for developers working with Humanoids in ROS. Each year we have more humanoids available in both Gazebo and commercial platforms, but we still don’t have a widely adopted framework like MoveIt or Navigation.
Some of the needs include:
- ROS Control hardware interfaces for more humanoid platforms
- Balancing and walking controllers for position and torque controlled robots (in ROS Control)
- Footstep odometry
- Terrain mapping
- Efficient tree-based IK with flexible constraint types
- Footstep and multi-contact planning / re-planning
Are others interested in working with me on this? If so, lets make ROSCon 2017 a starting point.