PR2 Teleoperation using Kinect

I wrote a teleoperation package in ROS for the pr2. The pr2 has joints that are very similar to human joints, so I just mapped the joint angles directly. This is in contrast to most teleoperation packages that simple move the end effector via cartesian control.

Category:

Science & Technology

Tags:

• Kinect
• PR2
• teleop
• teleoperation
• Garratt
• robot

[SolarEXtract]

Excellent work! It's too bad about the apparent lag. Do you think there's any way around that in the near future?

[roboczar]

@SolarEXtract Ya - it's not actually a problem - The skeleton tracking was a bit jumpy so I threw a window filter on top to smooth it out. It is was bit too aggressive, but it was late, so I went with it. The processing time is negligible with this application, so there is no reason why it can't be real-time.

[Fredfredbug4]

Reminds me of the recent Kinect trailer where an officer users the Kinect to make a robot defuse a bomb. 

[Aldeni1551]

Now we must prepare for the singularity.

They are coming.

"I, for one, welcome our new [robot] overlords."

[ShinobiDL]

Saw this on Wired. Wonder if hooking up two cameras to the head in a 3D setup, and then routing the output to a 3D monitor, could deepen the immersion (in other words, improve functionality)...

[electricity95]

this is amazing

[SolarEXtract]

@roboczar Gotcha. That's good to know. I have zero experience with the Kinect, so it's nice to hear about its potential before I consider getting one for myself. I wasn't sure how quickly it worked. Thanks for the response!

[vsfmtvenc]

A+