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Example of how to simulate humanoid biped using ROS/Gazebo

asked 2012-05-10 17:34:27 -0500

TurtleBot_Fan gravatar image

I would like to create a custom full-body humanoid biped using ROS/Gazebo. Are there any examples of how to do this? Is there a baseline humanoid example from which to build upon?



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answered 2012-05-10 20:55:31 -0500

updated 2012-05-11 00:39:35 -0500

The two available humanoid models that come to my mind are the Nao and Romeo description. These currently offer no gazebo support. Simulating a full body humanoid is a challenging simulation task (at least when not cheating by artificially nailing the standing foot to the floor or using other hacks). As far as I´m aware, there is no solution for gazebo available at the moment, so you either have the option to try it out yourself or wait a little, as Gazebo will likely be significantly improved in this direction in the future for the DARPA robotics challenge.

Another related option would be to have a look at the OpenHRP3 simulator, which works very well for humanoid robot simulation (but has no ROS interface). /edit: As described in the comment below, there is a ROS interface available.

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we have openhrp3 ros interface under rtm-ros-robotics repository, see for more info. Any feedback, comment, request are welcome.

Kei Okada gravatar image Kei Okada  ( 2012-05-10 23:06:40 -0500 )edit

answered 2020-06-20 09:01:45 -0500

Rufus gravatar image

updated 2020-06-21 09:03:02 -0500

As of 2020...


Unmaintained / Outdated

It's a shame these useful resources are unmaintained...

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answered 2012-11-23 09:55:24 -0500

Jey_316 gravatar image

I want to know : today(november 2012) is there a humanoid robot model, in gazebo? does The above answer ("no") is still correct?

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You should sign-up at and join the mailing list to keep up to date: Also see the DRC humanoid tutorials at:

dbworth gravatar image dbworth  ( 2012-11-23 21:06:48 -0500 )edit

It sounds like the current way that Gazebo is integrated with ROS is being changed. I don't know the status of that. However you can start writing code to directly control the DRC humanoid.

dbworth gravatar image dbworth  ( 2012-11-23 21:08:38 -0500 )edit

Thank you! .I downloaded the nao_ common directory. I openned the urdf file in the "/nao_common/nao_description/urdf" directory: roslaunch urdf_tutorial xacrodisplay.launch model:=nao_robot_v4.urdf.xacro .Then i could see the robot links, but i didnt see the sensors, where are those sensors?

Jey_316 gravatar image Jey_316  ( 2012-11-24 00:06:03 -0500 )edit

@dbworth, @Stefan Kohlbrecher Thank you for the answers. I would like to know do you know the answer about the above question? where are the Nao URDF sensors, and how can i work with those sensors(gyro , accelerometer, force sensors) on a simulator?

Jey_316 gravatar image Jey_316  ( 2012-11-24 00:50:19 -0500 )edit

@Jey_316 I am also interested in Nao Gazebo simulation. Did you developed something or find anything? If possible, can you share your current status about the issue?

Okan Aşık gravatar image Okan Aşık  ( 2013-07-25 23:31:46 -0500 )edit

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Asked: 2012-05-10 17:34:27 -0500

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Last updated: Jun 21 '20