Abstract:

InMoov is an open-source humanoid robot that can be, for the most part, printed on a 3D printer. It was designed by French sculptor and designer Gael Langevin. It is possible to control the robot by voice commands and can utilize face detection cameras or Kinect. InMoov can be controlled by repeating a movement of a human body that it detects. It also contains a conversational bot that can be talked to or given commands. By default, the control is handled by the MyRobotLab (MRL) program that was created in the Java language. The movement of the robot is ensured by servomotors, which are controlled by Arduino Mega2560. The experience of building the robot and using the MRL system will be presented in this article. The limits of using the MRL control system in an academic scenario, such as safety issues during classes where students could via program testing potentially cause hardware damage, have been identified. Another necessary functionality that MRL does not fully support is a simple way to control the robot and create various gestures without programming. This resulted in using the Robot Operating System (ROS), an open-source framework, that will be presented in this paper. ROS is widely used for programming humanoid robots, mobile manipulators, and unmanned ground vehicles for industrial applications and logistics. The goal was to create an easy-to-use and expandable control program for the InMoov robot. The theoretical part describes why the ROS framework was chosen and its basic concepts. Subsequently, the development of cross-platform mobile application and hardware component based on ESP32 and PCA9685 is described. The practical part consists of a description of the software, presenting the functionalities of the robotic system, as well as testing individual parts of the system.

Keywords:

InMoov, ROS, ESP32, MyRobotLab.