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golems/experiments
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This repo is to contain the code for development experiments that we do for Krang. The following experiments have taken place so far: 1) Kinematics: Testing the Kinect output against the forward kinematics 2) Balancing: Getting the center of mass model and the balancing 3) Current control: Implementing current control on the arm towards more smooth compliant behavior and safer/faster two hand manipulation. 4) Grippers: Opening and closing grippers fully, ability to squeeze until a current limit 5) Manipulation: The two hands move (independently) to take objects from a desk, from each other and place them. Vision is incorporated. 6) TwoHands: The two hands manipulate objects at the same time which induces closure problems and must be handled with task constraints or compliance. 7) Teleop: The development code for using liberty and having a full interface with the Logitech joystick. Once done, we will move to demos. 8) Navigation: Development of autonomous navigation using encoder values and vision data.
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Main sandbox for developing "apps" for krang
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