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REEM-C

REEM-C-frontal-reduced.png

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.

Videos

Introducing REEM-C

Walking

Whole Body Control

Human robot interaction

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)

reemc_description

Robot controller configuration

reemc_controller_configuration

Robot bringup files

reemc_bringup

Hey5 hand model (URDF)

hey5_description

Simulation files

Component

ROS package/stack

Robot hardware simulation

reemc_hardware_gazebo

Robot controller configuration for Gazebo

reemc_controller_configuration_gazebo

Robot Gazebo models, worlds and launch scripts

reemc_gazebo

Gazebo plugins

pal_gazebo_plugins

Hardware Drivers for simulation

Component

ROS package/stack

Hardware drivers

pal_hardware_gazebo

Messages

Component

ROS package/stack

PAL specific messages

pal_msgs

Controllers

Component

ROS package/stack

ros_control overlay

ros_control

ros_controllers overlay

ros_controllers

gazebo_ros_control overlay

gazebo_ros_control

High-Level Capabilities

Component

ROS package/stack

Play back of pre-defined motions

play_motion

Joystick teleoperation interface

joy_teleop

MoveIt! package

reemc_moveit_config

Point head action

head_action

PAL Robotics GitHub organization


2019-02-09 12:30