Involved robotics application uses Orocos

The ACM research group of the K.U.Leuven used Orocos Real-Time Toolkit as framework for an involved robotics application as well as Orocos Bayesian filtering library and Kinematics and Dynamics Library.

The experiment consists of a complex task—"human-aware task
execution"—involving two robot arms, five PCs interconnected by ethernet, and half a dozen or so sensors.

One robot moves an object, while the other
robot's tool performs a force-controlled "operation" on the
boundary of that object. A Sick laser scanner looks at the
environment of the robots, and detects moving persons in a
given range. A camera mounted on the tool "looks ahead"
of the contact point, providing a quadratic estimate of the
contour in front of the tool which allows to give appropriate
geometric feedforward to the force feedback control. The
twelve degrees of freedom of both robots together are used to
allow the following flexibility in the task execution: (i) both
robots can be kept away from their kinematic singularities;
(ii) as soon as one person comes within a specified distance
of the robots, they move the object away from that person;
(iii) a camera mounted on one of the robots is aimed at the
closest human, allowing visual feedback to the humans that
the robot controller is aware of them.

Category:

Science & Technology

Tags:

• orocos
• robot
• robotics
• kdl
• bfl
• rtt

[MaxinRocks]

Awesome work dude !!