Ben Charrow - Final Project: Door Opening - Spring 2011

An Example of Cooperative Robotics
by Ben Charrow

My final project focused on coordinating a heterogenous pair of robots: the PR2 and the Scarab. While the PR2 is a large complicated robot with a wide array of sensors and actuators, the Scarab is small differential-drive robot equipped with a single laser scanner. Despite their differences in complexity, an autonomous team would benefit from having both robots as members. As a demonstration of how these two robots can work together, I successfully got the the PR2 to autonomously detect, open, and close a door so that the Scarab could drive through it.

For More Information:
https://alliance.seas.upenn.edu/~meam620/wiki/index.php?n=BenCharrow2011.Final

http://www.meam620.info

Category:

Science & Technology

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• Ben Charrow
• meam620
• door opening
• robot
• upenn
• grasp lab