The ROS: Kinetic Kame for Humanoid Robot BarelangFC

Jurnal Integrasi Vol. 13 No. 1, April 2021, 68-77 e-ISSN: 2548-9828 Article History Received January 2021 Accepted April 2021 The ROS: Kinetic Kame for Humanoid Robot BarelangFC Susanto*, Junito Suroto*, and Riska Analia* * Batam Polytechnics Department of Electrical Engineering Parkway Street, Batam Centre, Batam 29461, Indonesia E-mail: , Abstrak Sebuah robot kolaboratif seperti robot humanoid yang mampu bermain sepak bola terdiri dari banyak sekali framework software seperti servo controller, vision system, receiver and transmitter strategi, sensor, dan sistem koordinasi. Semua framework software ini perlu diintegrasikan untuk menyederhanakan perintah dalam menciptakan kompleksitas robot behaviour. Untuk mengatasi permasalahan tersebut, maka Robot Operating System (ROS) dapat diimplementasikan pada setiap robot. Makalah ini memaparkan implementasi ROS: Kinetic Kame untuk mengintegrasikan seluruh framework yang ada pada robot. Untuk memverifikasi kinerja sistem ini, beberapa percobaan telah dilakukan dalam aplikasi real-time. Dari hasil percobaan, ROS: Kinetic Kame mampu mengintegrasikan setiap framework software robot dengan respon yang sangat baik. Kata kunci: Humanoid robot soccer, Software framework, ROS, Kinetic Kame. Abstract A collaborative robot such as humanoid robot which able to play soccer consist tons of software framework such as servo controller, vision system, strategy receiver and transmitter, sensors, and coordination system. All these frameworks needed to be integrated to simplify the command of creating the complexity of the robot behaviors. To overcome these problems, the Robot Operating System (ROS) can be implemented on each robot. This paper presented the implementation of the ROS: Kinetic Kame in order to integrated the whole framework which is existed in the robot. To verify the performance of this system, some experiments has been done in real-time application. From the experimental results, the ROS: Kinetic Kame able to integrate each software framework of the robot in very good response. Keywords: Humanoid robot soccer, Software framework, ROS, Kinetic Kame. 1. Introduction The ROS described as a flexible framework for writhing robot software. The ROS has some collection of tools, libraries, and conventions which aim to simplify the command for the complex movement of the robot. Since it has been released, the ROS has at least 13 distribution version with the latest one was ROS: Noetic Ninjemys. On progress of the ROS distribution version, many researchers already used the ROS system into their robot such as collaborative robot, navigation system, platform integration, object detection system, and also on the humanoid robot which has been developed by the author. The usage of ROS on the robot interaction introduced by zhang, et.al [1] namely as Xinxin which able to interact the people in natural way. In this work, the platform. While Belzunce, et.al [2] developed the control system design of an omni-directional mobile robot to determine the viability of such a system which has been tested along with Gazebo in simulation. The other autonomous robot which introduced by Köseoğlu, et.al [3] adapted the ROS to integrated the hardware platform and software which aim to make them interconnect each other. On the other hands, Park, et.al [4] developed a mapping and localization on the cooperative robot by ROS and SLAM in unknown working area. In this work, they add a new hybrid architecture which only one PC that able to communicate to the robot. The other localization and navigation system control that developed by the ROS presented by [5-9] that mostly they used the SLAM for the localization and used different sensors for the ROS is used as the core of information processing in order to integrated the hardware and software 68 | Jurnal Integrasi | Vol.13 No.1, April 2021, 68-77 | e-ISSN: 2548-9828 camera as the vision system. The robot Tombol Strategi Webcam Figure 1: The architecture of the BarelangFC mechanical design. environment detecting such as LiDAR, Laser Scanner and even the camera. The ROS also can be used for the industrial robot such presented by Chen, et.al [10]. In this work they developed the virtual teaching pendant system for the manipulator robot for establishing the robot model, direct and inverse kinematics manipulator and also the motion planning. In contrast with Chang, et.al [11], they used the ROS as a middleware framework to identify the object based on the deep learning method. In this work, they implement the system into Raspberrry Pi mobile robot. Mostly a collaborative robot consists more than three robots and need to be cooperated each other. One of the challenging works in developing the collaborative is establishing the software framework. Sometimes, one robot can be consisting of more than three software frameworks for make it works as the robot command. The integration of all these frameworks need to be emphasize regarding the performance of the robot in the field. To overcome this situation in [12-19], they implemented the ROS as a bridge to make each of framework on the robot able to communicate and integrate each other. Therefore, in this work we implement the tenth version of the ROS which is ROS: Kinetic Kame on the humanoid robot soccer called BarelangFC. The ROS will be used for send and receive command of all the software frameworks of the robot and make them communicate each other. 2. The Humanoid Robot Soccer The humanoid robot soccer in this work so called BarelangFC build with 20 unit of servo motors. These servo motors are used as the actuator to move each joint of the robots. The hardware architecture of the BarelangFC can be seen on Error! Reference source not found.. From Figure 1, the robot construct in about 66 cm of the height and 27 cm of the width and has 20 DOF. It has 12 DOF for the legs joint, 6 DOF for the arms, and 2 DOF for the neck joint. In terms of servo position, each of servo has its own initial ID for easily troubleshooting problems and also the robot movement. On the neck joint mounted the webcam Jetson TX2 Servo Controller Servo Motor Figure 2: The block diagram of the system in general. Figure 3: The ROS communication system. body is made from the alluminium material with 2mm thickness. This robot used a Jetson TX2 as a controller board to control the flow of all the software framework for each necessary. In order to send the signal to the servos, a servo controller also mounted in the robot. In general, the diagram block of this system can be seen on Figure 2. The system also has a “tombol strategi” for give the strategy command to the robot before robot playing soccer. 3. The ROS: Kinetic Kame System The ROS: Kinetic Kame was the tenth version of the ROS distribution since it released. This ROS version will be implemented in the BarelangFC as a software flow control to command all the software framework that BarelangFC has to work properly based on the sys (...truncated)