This repository contains the URDF model and software for a humanoid robot with wheels on its knees, enabling it to switch between walking and driving modes.
This repository contains the software and models for a unique legged robot developed in collaboration with the Korea Institute of Machinery and Materials (KIMM). The robot is a bipedal humanoid with an innovative design: wheels are integrated into its knees, allowing it to seamlessly switch between two modes of locomotion: walking and driving.
simplescreenrecorder-2025-09-08_01.57.17.mp4
- ROS 2 Humble (>= 2022.05)
- Python 3.10 / C++17
- Clone the Repository: Create a workspace and clone this repository recursively.
mkdir -p ~/kimm_wheel_legged_robot_ws/src && cd ~/kimm_wheel_legged_robot_ws/src
git clone https://github.com/RCILab/RCI_KIMM_legged_robot.git
- Build the Workspace: Install dependencies and build the packages.
cd ~/kimm_wheel_legged_robot_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
- Source the Environment: Source the workspace's setup file to make the packages available in your environment.
echo "source ~/kimm_wheel_legged_robot_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc
To visualize the robot and interact with its joints:
ros2 launch kimm_wheel_legged_robot_viz joint_state_publisher_gui.launch.py
To spawn the robot in Gazebo and start simulation:
ros2 launch kimm_wheel_legged_robot_bringup kimm_gazebo.launch.py
This will load the robot model into Gazebo and start the bringup process for driving and locomotion testing.
You can control the robot using the keyboard teleoperation node:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/diff_drive_base_controller/cmd_vel_unstamped
This will allow you to send velocity commands to the robot for driving in Gazebo.
This project is licensed under the MIT License - see the LICENSE file for details.
Maintainer: Kangmin Lee (khukmin99@khu.ac.kr), Hyunho Cho (chohh7391@khu.ac.kr)