MH5 Robot Documentation

This is the consolidated documentation for the MH5 Humanoid Robot (Miha).

The section GETTING STARTED will introduce the key Design Principles and the robot Specifications. This is a good start to have an understanding about the technical capabilities of the robot.

The section HARDWARE includes details about the the standard and customized hardware elements included in the construction of the robot. The information provided relates to:

Hardware

Section

Purpose

Actuators

Information about the actuators used in the robot
Information about the configuration of the actuators
A selection of features important for the usage of the robot

Frames

Details about the frames used in its construction

Raspberry Pi HAT

Details about the Raspberry Pi HAT with more
in-depth information about:
- the Dynamixel Interface
- the TFT Display
- the Sound Interface
- the IMU and
- the ADC used to monitor the voltages

Hot-Swap battery circuits

used to manage the power supply from the two batteries in the feet

FSR Feet

circuits used to provide:
- pressure information
- voltage and current information related to each of the batteries

The section ROS PACKAGES describes the setup of the ROS Noetic version onto the MH5 main controller, including all dependencies needed for its correct functioning. After this it presents is detail the way the custom MH5 packages are designed and are supposed to be used. The packages are grouped in several repos to support better control over the installation (for example the mh5_hardware package is dependent on platform specific drivers and libraries like I2C, Serial, etc. that might not be available on a desktop platform, while the mh5_monitoring package makes extensive use of rqt plug-ins that are not installed on the robot by choice, instead being intended to be used on a remote desktop that has such support enabled):

ROS Packages

Section

Purpose

mh5_robot

Meta-package containing all the packages intended for deployment
on the robot:
- Usage of mh5_hardware package
- Usage of mh5_controllers package
- Usage of mh5_ui package
- Usage of mh5_vision package

mh5_common

Meta-package containing all the packages that can be deployed
both on the robot as well as on a remote desktop:
- Usage of mh5_description package
- Usage of mh5_msgs package

mh5_remote

Meta-package containing all the packages that can be deployed
on a remote desktop:
- Usage of mh5_monitor package

Finally the section REFERENCE contains detail API reference for all packages and classes used in the MH5 ROS packages and is intended to help developers understand in more detail these packages.