ASS4HR -- An Artificial Somatosensory System for a Humanoid Robot. The ROS package

ASS4HR is both a design and a ROS (Robot Operating System) implementation of an artificial somatosensory system for a humanoid robot. The design takes inspiration from the biological model and has been adapted to the robot's characteristics. The implementation is based on the use of the soft sensors paradigm. ASS4HR allows the robot to experience sensations that we call "roboceptions", exploiting from the measurements of the basic sensors it is equipped with. This way, the robot is aware of its physical condition and can adapt its behavior. For each "roboception" that constitutes the artificial somatosensory system, both the ascending path and the descending path have been implemented. Therefore, ASS4HR allows you to experience, modulate or inhibit the "roboceptions". By doing so, each robot can have its own character.