Programming of a Nao humanoid in Gazebo using Hierarchical FSM

The interest in humanoid robots has increased significantly in the last years. International contests like RoboCup or DARPA Robotic Challenge foster the research in humanoids and an increasing number of conferences focus on them. The intelligence of the humanoid robot mainly lies on its software. There are several tools that help in the development of intelligent software for them. In this paper we present two tools inside our JdeRobot framework. First, the support for the Nao humanoid in the latest releases of Gazebo simulator. Second, a visual programming application, named VisualHFSM, which provides Hierarchical Finite State Machines to program the robot behaviors. Both have been experimentally validated using VisualHFSM to generate example behaviors in the simulated Nao.