ROBOTIS THORMANG3

ROS Packages for ROBOTIS THORMANG3 PPC

|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic| |:—:|:—:|:—:| |||-|

ROBOTIS e-Manual for ROBOTIS THORMANG3

• ROBOTIS e-Manual for ROBOTIS THORMANG3

Wiki for thormang3_ppc Packages

• http://wiki.ros.org/thormang3_ppc (metapackage)
• http://wiki.ros.org/thormang3_sensors
• http://wiki.ros.org/thormang3_manipulation_demo
• http://wiki.ros.org/thormang3_walking_demo

Open Source related to ROBOTIS THORMANG3

• thormang3_msgs
• thormang3_common
• thormang3_mpc
• thormang3_mpc_sensors
• thormang3_ppc
• thormang3_opc
• thormang3_tools
• robotis_controller_msgs
• robotis_framework
• robotis_utility
• robotis_math
• dynamixel_sdk

Documents and Videos related to ROBOTIS THORMANG3

• ROBOTIS e-Manual for ROBOTIS THORMANG3
• ROBOTIS e-Manual for ROBOTIS Manipulator-H
• ROBOTIS e-Manual for ROBOTIS OP3
• ROBOTIS e-Manual for ROBOTIS Framework
• ROBOTIS e-Manual for Dynamixel SDK

What is THORMANG3?

THOR (Tactical Hazardous Operations Robot) is an affordable, full size humanoid robot platform with advanced computational power, sophisticated sensors, high payload capacity, and dynamic motion abilities to enable many exciting researches and educational activities.

Hardware

|Feature|Description| |:—:|:—:| |DOF|29| |Actuator|200W x 10 / 100W x 11 / 20W x 8| |Computer|Intel® NUC with Intel® Core™ i5 Processor
(DDR4 RAM 8GB / M.2 SSD 128GB) x2| |Wireless router|Dlink DIR-806A x 1| |Sensor|Logitech C920 HD Camera x 1
Intel Realsense(Option) x 1
Hokuyo UTM-30LX-EW(Option) x 1
F/T: ATi Mini58-SI-2800-120 x 2
IMU: MicroSrain 3DM-GX4-25 x 1| |Battery|22V, 22000mA x 1
18.5V, 11000mA x 1| |Height|137.5cm| |Weight|42Kg|

Software

The followings are source code development environments.

• OS : Linux (Ubuntu LTS 64-bit) with ROS (Robot Operating System)
• Compiler : GNU project C and C++ Compiler
• Programming Language : C++