REEM-C
ROS Software Maintainer: PAL Robotics
REEM-C is a commercial humanoid robot of PAL Robotics. REEM-C is an adult size humanoid (165 cm / 80 kg), and it has 44 degrees of freedom, two i7 computers, force/torque sensors on each feet and wrist, laser range sensors on both feet, stereo camera, inertial measurement unit, 2 speakers, and other devices that make REEM-C one of the best humanoid research platforms today. Optionally, a depth camera can also be attached to the head. It also has already developed software for walking, perception, manipulation, navigation and human-robot interaction which allows it to execute a wide variety of tasks. REEM-C runs on ROS internally, and uses state-of-the-art ros_control and OROCOS.
For technical questions regarding the public simulation of the robot please write to support@pal-robotics.com .
If you wish to know more or request a quote, please send us a message orvisit our website.
Contents
Videos
Introducing REEM-C
Walking
Whole Body Control
Human robot interaction
Gallery
A picture is worth a thousand words:
Tutorials
A feature-rich Gazebo simulation setup for REEM-C is freely available on PAL Robotics' github page.
Instructions on how to install can be found in the REEM-C tutorials for ROS Kinetic.
Please refer to the pal-ros-pkg page for source installation instructions for other supported ROS distributions.
Public simulation packages overview
This section presents an overview of the packages used in the public simulation of REEM-C, with links to the corresponding wiki pages describing the packages. For the installation instructions of the packages please refer to REEM-C tutorials.
Robot model
Component |
ROS package/stack |
Robot model (URDF) |
|
Robot controller configuration |
|
Robot bringup files |
|
Hey5 hand model (URDF) |
Simulation files
Component |
ROS package/stack |
Robot hardware simulation |
|
Robot controller configuration for Gazebo |
|
Robot Gazebo models, worlds and launch scripts |
|
Gazebo plugins |
Hardware Drivers for simulation
Component |
ROS package/stack |
Hardware drivers |
Messages
Component |
ROS package/stack |
PAL specific messages |
Controllers
Component |
ROS package/stack |
ros_control overlay |
|
ros_controllers overlay |
|
gazebo_ros_control overlay |
High-Level Capabilities
Component |
ROS package/stack |
Play back of pre-defined motions |
|
Joystick teleoperation interface |
|
MoveIt! package |
reemc_moveit_config |
Point head action |
