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General Grievous HR-OS5

Welcome to the General Grievous HR-OS5 Framework wiki! The intentions of this Wiki is to give additional information about the HR-OS5 Humanoid Research Robot from Trossen Robotics .

http://i.imgur.com/kDP9SQr.jpg?1

HROS5-Framework, based on Darwin-OP framework, is a collaborative software project based on the open source Darwin-OP Framework, with the intent to continue development, implement an API to expose higher level functions of the framework, and develop additional features.

In addition I have branches of this kit, both in hardware and software. Most of what you find here is based on the exsisting HR-OS5 documentation, with my complementary notes and modifications.

The General Grievous project has been built following these steps. This guide is set up sequentially, whereas each step relies on previous steps.

1. <a href="http://learn.trossenrobotics.com/index.php/getting-started-with-the-arbotix/11-lipo-battery-guide">Battery Care Instructions</a>
2. Hardware Overview
3. Main Processor Choice - Raspberry Pi Vs Intel Edison
4. Electronics & Framework Setup
   • HR OS1 Electronics and Framework Setup (Raspberry Pi)
   • HR OS1 Electronics and Framework Setup (Intel Edison)
5. Set DYNAMIXEL servo IDs
   • Setting DYNAMIXEL Servo ID with the DXL_Monitor - Recommended Command Line Interface
   • <a href="https://www.youtube.com/watch?v=SCO_8nrldDE">Setting DYNAMIXEL Servo ID with RoboPlus / DYNAMIXEL Wizard</a> - Optional GUI interface (Windows Only)
6. <a href="https://github.com/Interbotix/HROS1-Framework/wiki/ps3_demo#pairing-the-sixaxis-controller-to-your-robot">Pair PS3 Controller to Intel Edison or RPi2</a>
7. <a href="http://learn.trossenrobotics.com/projects/155-hr-os1-kit-assembly-guide.html">Robot Assembly Guide </a>
8. rme Robot Motion Editor for robot animation and playback.
9. ps3_demo PS3 Sixaxis controller demo, WIP/unstable
10. node_server Node.js API Server, WIP

References and recommended reading:

• [Original Darwin-OP Framework source code](https://sourceforge.net/projects/darwinop/)
• [Darwin-OP Development Documentation](http://support.robotis.com/en/techsupport_eng.htm#product/darwin-op/development.htm)
• [Darwin-OP Framework Documentation](http://support.robotis.com/en/techsupport_eng.htm#product/darwin-op/development/framework.htm)