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:
Section |
Purpose |
---|---|
Actuators |
Information about the actuators used in the robot |
Frames |
Details about the frames used in its construction |
Raspberry Pi HAT |
Details about the Raspberry Pi HAT with more |
Hot-Swap battery circuits |
used to manage the power supply from the two batteries in the feet |
FSR Feet |
circuits used to provide: |
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):
Section |
Purpose |
---|---|
|
Meta-package containing all the packages intended for deployment |
|
Meta-package containing all the packages that can be deployed |
|
Meta-package containing all the packages that can be deployed |
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.