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ROS packages for the motion of THORMANG3, MPC means Motion PC.
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README.md

ROBOTIS THORMANG3

ROS Packages for ROBOTIS THORMANG3 MPC

Version Kinetic + Ubuntu Xenial Melodic + Ubuntu Bionic
GitHub version Build Status -

ROBOTIS e-Manual for ROBOTIS THORMANG3

Wiki for thormang3_mpc Packages

Open Source related to ROBOTIS THORMANG3

Documents and Videos related to ROBOTIS THORMANG3

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++
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