Reusable and Open-Source Modules for Humanoid Robots


Workshop at 2015 IEEE-RAS International Conference on Humanoid Robots


Humanoids are capable of incredibly sophisticated motion, perception, and interaction with their environments. They are also well-suited for executing complex tasks in constrained, human-engineered environments with applications as robotic co-workers, service robots, and avatars for human response forces for disaster recovery. The recent DARPA Robotics Challenge (DRC) was a dramatic demonstration of the state-of-the-art of humanoids in the last category.


However, the complexity of humanoid robots still challenges our best software for dynamic motion planning, control, perception, and mission operation. Our ability to deploy these systems in real-world scenarios will depend strongly on our ability to successively build on available and proven hardware and software modules. This workshop is intended to promote this topic by featuring talks and live demonstrations about several recent projects and approaches related to both software (control, planning, estimation, interfaces) and hardware (sensors, actuators, and robot designs).



Jong-Wook Kim, Dong-A University, Korea

Scott Kuindersma, Harvard University, U.S.A.

Oskar von Stryk, Technische Universität Darmstadt, Germany


All participants (audience, speakers, organizers) must register through the registration system of the conference.


The workshop takes place on Tuesday, November 3rd, 2015, from 9:15AM to 1PM in the Lounge.


09:15     Welcome and Introduction

First Session

09:25     I. Ha (ROBOTIS, Korea): Introduction to THORMANG: An Open Platform Humanoid Robot (Platform, GitHub: ROS Packages)

09:40    B. Shrewsbury (IHMC, FL, USA): IHMC's Open Source Simulator, Diagnostics Utilities, and Humanoid Whole Body Controller (Link)

09:55    R. Deits (MIT, MA, USA): Reusable Planning, Control, and Interface Software for Humanoids (Code:, Team MIT: )

10:10    E. Mingo Hoffman, Nikos G. Tsagarakis (IIT, Italy): The Robotic Software Developed by WALK-MAN Team for the DRC Finals (Abstract, GitHub: Robotology, Robotology Playground, GitLab: WalkMan)

10:25    A. Stumpf, S. Kohlbrecher, A. Romay, P. Schillinger, O. von Stryk (TU Darmstadt, Germany), S. Maniatopoulos (Cornell Univ., USA), F. Bacim, D.A. Bowman (Virginia Tech, USA), D.C. Conner (Christopher Newport Univ., USA): DRC Team ViGIR’s Modular, Open-Source, ROS-based Software for Humanoid Robots (Abstract, Tutorial, GitHub: Team ViGIR, THOR-MANG)

10:40    Interactive Demonstrations of the First Session

Second Session

11:20    P. Allgeuer, H. Farazi, M. Schreiber, S. Behnke (Univ. Bonn, Germany): igus Humanoid Open Platform: A Modular 3D Printed Humanoid Robot (Abstract, Platform, GitHub: Hardware Release, Software Release)

11:35    S. Traversaro, F. Romano, N. Kuppuswamy, A. Del Prete, J. Eljaik, N. Lorenzo, F. Nori (IIT, Italy): wholeBodyInterface: An Open-Source Software Abstraction Layer for Whole-Body Motion Control (Abstract, GitHub: wholeBodyInterface, Documentation)

11:50    K. Hauser (Duke Univ., NC, USA): Robust Simulation and Trajectory Optimization for Humanoids  (Abstract, Klamp’t Simulator, MInToS trajectory optimizer)

12:05    J.-W. Kim (Dong-A Univ. Korea): ROBOTIS-OP MATLAB Simulation and Middleware Codes for Motion Generation and Biped Walking (Abstract)

12:15    Interactive Demonstrations of the Second Session

12:55    Closing Remarks


The workshop number is WH07 and it takes place in the Lounge (see map).

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