Канал: CWRU Robotics

State Machine Berthing

State Machine Berthing

Compliant Robotic Planar Satellite Capture Demo using Air Bearings

Compliant Robotic Planar Satellite Capture Demo using Air Bearings

Compliant Berthing

Compliant Berthing

3-bearing sled with 50-lb load

3-bearing sled with 50-lb load

Air Bearing with tracking

Air Bearing with tracking

ArUco + IMU EKF Tracking

ArUco + IMU EKF Tracking

Air Bearing Satellite Emulator

Air Bearing Satellite Emulator

Air bearing 15lb load on mirror

Air bearing 15lb load on mirror

Air Bearing Porous Graphite in Water

Air Bearing Porous Graphite in Water

Air bearing 40lb load on polycarbonate

Air bearing 40lb load on polycarbonate

Socket Wrench Insertion

Socket Wrench Insertion

Saucepan lid installation state machine

Saucepan lid installation state machine

Unlatch, open and close door - first attempt: relaxed translation, manual euler angles

Unlatch, open and close door - first attempt: relaxed translation, manual euler angles

Insertion of 3 prong outlet with translational misalignment

Insertion of 3 prong outlet with translational misalignment

Axis Controlled RWE Torque Demonstration

Axis Controlled RWE Torque Demonstration

Demonstration of the use of a bumpless attractor

Demonstration of the use of a bumpless attractor

Cutting with New Tool and Compliance

Cutting with New Tool and Compliance

Automated Tool Retrieval and Stowage

Automated Tool Retrieval and Stowage

Tool stowage using a state machine and compliant skills

Tool stowage using a state machine and compliant skills

Deep Drive socket on Nut

Deep Drive socket on Nut

Insertion of Sleeve over Peg with Axis Controlled RWE

Insertion of Sleeve over Peg with Axis Controlled RWE

Connection of Quick Disconnect with Compliance

Connection of Quick Disconnect with Compliance

Demonstration of Dithers in Task Frame

Demonstration of Dithers in Task Frame

Insertion of Sleeve Over Peg with new Axis Controlled Limp Mode

Insertion of Sleeve Over Peg with new Axis Controlled Limp Mode

Compliance Demonstration with Extended Tool Tip

Compliance Demonstration with Extended Tool Tip

Demonstration of the System in Compliant Mode based on the FT Sensor

Demonstration of the System in Compliant Mode based on the FT Sensor

Movement of Robot showing real robot and simulation

Movement of Robot showing real robot and simulation

Tool Stowage with Extension and Robot Model

Tool Stowage with Extension and Robot Model

Tool Removal with Compliance and Robot Model

Tool Removal with Compliance and Robot Model

Connection to QD Valve with tool extension showing robot model

Connection to QD Valve with tool extension showing robot model

FT Based Compliance Full Retrieval to Connection

FT Based Compliance Full Retrieval to Connection

Tool into Quick Disconnect Lab View

Tool into Quick Disconnect Lab View

Connecting tool to Quick Disconnect with compliance and end effector extension

Connecting tool to Quick Disconnect with compliance and end effector extension

New Camera Views with Sensor based movement

New Camera Views with Sensor based movement

Tool Retrieval to Quick Connection

Tool Retrieval to Quick Connection

Insertion to Quick Connect Valve

Insertion to Quick Connect Valve

Tool Retrieval

Tool Retrieval

Tool Stowage

Tool Stowage

Tool Stowage with Compliance

Tool Stowage with Compliance

Hand Interacting with Printed Tool Exchange

Hand Interacting with Printed Tool Exchange

Angled View Tool

Angled View Tool

Top down tool insertion

Top down tool insertion

Cutting of Mylar with graphs and commands

Cutting of Mylar with graphs and commands

Position Hold between commands with no hold delays for Peg Insertion

Position Hold between commands with no hold delays for Peg Insertion

Position Hold in between states for Peg Insertion Task

Position Hold in between states for Peg Insertion Task

Robot Cutting through Mylar

Robot Cutting through Mylar

Preliminary Cutting of Mylar

Preliminary Cutting of Mylar

Insertion with GUI and Time Lag at 2x Speed

Insertion with GUI and Time Lag at 2x Speed

Insertion with GUI and No Time Lag

Insertion with GUI and No Time Lag

Supervisor Skill GUI Demo With Time Delays

Supervisor Skill GUI Demo With Time Delays

Bumpless Transition

Bumpless Transition

1 Peg Difficult Assembly Demo

1 Peg Difficult Assembly Demo

Translational and Torsional Wiggle Push

Translational and Torsional Wiggle Push

Torsional and Translational Wiggle Pull

Torsional and Translational Wiggle Pull

From Jam to Accommodation Controller On

From Jam to Accommodation Controller On

PTFL + OTTL Cap Removal

PTFL + OTTL Cap Removal

PTFL + OTTL Cap Placement

PTFL + OTTL Cap Placement

15sec dollar sign

15sec dollar sign

Target Reached Orientation Target with Torque Limiting

Target Reached Orientation Target with Torque Limiting

Torque Threshold Crossed Orientation Target with Torque Limiting

Torque Threshold Crossed Orientation Target with Torque Limiting

Force Moment Accommodation for Peg Jam

Force Moment Accommodation for Peg Jam

Force Threshold Crossed Position Target with Force Limiting

Force Threshold Crossed Position Target with Force Limiting

Force Threshold Crossed Earlier Position Target with Force Limiting

Force Threshold Crossed Earlier Position Target with Force Limiting

Target Reached Position Target with Force Limiting

Target Reached Position Target with Force Limiting

Pill Bottle Cap On

Pill Bottle Cap On

Pill Bottle Cap Off

Pill Bottle Cap Off

teamCase fetch

teamCase fetch

Dynamic Attractor

Dynamic Attractor

Static Attractor Far Below Surface

Static Attractor Far Below Surface

Static Attractor Near Below Surface

Static Attractor Near Below Surface

Spiral Search with Virtual Attractor and Accomodation Control

Spiral Search with Virtual Attractor and Accomodation Control

da Vinci Needle Handling Compilation

da Vinci Needle Handling Compilation

Modeling and Control of the da Vinci Surgical Robot

Modeling and Control of the da Vinci Surgical Robot

Compliant motion - Move until touch and align with surface

Compliant motion - Move until touch and align with surface

Compliant motion- Move until touch and align with surface

Compliant motion- Move until touch and align with surface

da Vinci Surgical Unit- Vision-Guided Manipulation

da Vinci Surgical Unit- Vision-Guided Manipulation

ARIAC 2018 Solution

ARIAC 2018 Solution

CWRU ARIAC Showcase

CWRU ARIAC Showcase

Supervisory Control of a DaVinci Robot

Supervisory Control of a DaVinci Robot

Object Recognition from Point Clouds Using Deep Learning

Object Recognition from Point Clouds Using Deep Learning

Sentry Robot Aimless Navigation with Novel Terrain

Sentry Robot Aimless Navigation with Novel Terrain

Sentry Robot Aimless Navigation

Sentry Robot Aimless Navigation

Sentry Robot Novel Obstacles

Sentry Robot Novel Obstacles

Sentry Robot Slope Failure Example

Sentry Robot Slope Failure Example

Tensorflow Classifier Used for Random Navigation

Tensorflow Classifier Used for Random Navigation

Tensorflow Classifier Used as Emergency Stop

Tensorflow Classifier Used as Emergency Stop

Accelerated and Improved Data Collection

Accelerated and Improved Data Collection

Curb World Training Data Collection

Curb World Training Data Collection

Failure Detection Test

Failure Detection Test

Sentry Robot Terrain World Spawn Test

Sentry Robot Terrain World Spawn Test

Orientation Detection

Orientation Detection

Autonomous Navigation and Mapping Test

Autonomous Navigation and Mapping Test

3D Object Recognition Test 2

3D Object Recognition Test 2

Tank chair nav stack test

Tank chair nav stack test

Tangent Bug Running in Simulation

Tangent Bug Running in Simulation

Coke searching - Group Beta - EECS476 PS9

Coke searching - Group Beta - EECS476 PS9

Steering mobot - Group Beta - EECS476 PS7

Steering mobot - Group Beta - EECS476 PS7

Coke Fetcher - Group Beta - EECS476 Final Project

Coke Fetcher - Group Beta - EECS476 Final Project

PS7 Alpha

PS7 Alpha

Sentry Robot - Point-Click Interface

Sentry Robot - Point-Click Interface

Sentry Robot - Return Home

Sentry Robot - Return Home

Final Project Alpha

Final Project Alpha

PS8 Alpha

PS8 Alpha

Senior Project: Point-Click Navigation Test

Senior Project: Point-Click Navigation Test

PS9 Delta

PS9 Delta

395 Senior Project Mapping and Point-Click interface

395 Senior Project Mapping and Point-Click interface

Gamma PS8

Gamma PS8

Jinx with linear controller and AMCL - Group Beta - EECS376/476 PS8

Jinx with linear controller and AMCL - Group Beta - EECS376/476 PS8

PS8 Epsilon

PS8 Epsilon

Delta_PS8_AMCL

Delta_PS8_AMCL

PS7 Epsilon hallway

PS7 Epsilon hallway

Delta-PS7

Delta-PS7

Baxter / Alexa Integration Test

Baxter / Alexa Integration Test

Alpha - PS6 - Jinx going to the vending machines

Alpha - PS6 - Jinx going to the vending machines

Alpha - PS5 - Real World Test

Alpha - PS5 - Real World Test

Alpha - PS5 - Gazebo Test

Alpha - PS5 - Gazebo Test

Jinx trundling the hallway - Group Beta - EECS376/476 PS6

Jinx trundling the hallway - Group Beta - EECS376/476 PS6

Group Epsilon PS5 - Simulation

Group Epsilon PS5 - Simulation

Group Epsilon PS6 - Hallway

Group Epsilon PS6 - Hallway

Group Epsilon PS5 - rollers

Group Epsilon PS5 - rollers

Group Gamma P6

Group Gamma P6

PS6 Delta

PS6 Delta

Jinx gazebo simulation - Group Beta - EECS376/476 PS5

Jinx gazebo simulation - Group Beta - EECS376/476 PS5

Jinx on roller - Group Beta - EECS376/476 PS5

Jinx on roller - Group Beta - EECS376/476 PS5

ROS final project group delta

ROS final project group delta

Baxter grasp block - Group Gamma - EECS-397/600 Final Project

Baxter grasp block - Group Gamma - EECS-397/600 Final Project

Baxter - Final Block Sorter, Group Beta

Baxter - Final Block Sorter, Group Beta

Baxter Group Epsilon

Baxter Group Epsilon

EECS600 2015 Alpha

EECS600 2015 Alpha

Robot Object Seeking CWRU-Epsilon EECS376 Final Project Demo

Robot Object Seeking CWRU-Epsilon EECS376 Final Project Demo

Delta Haus Final Project

Delta Haus Final Project

Final Project Team Gamma

Final Project Team Gamma

Team Beta - Pacific Ross / Abby Yeager - Final Demo

Team Beta - Pacific Ross / Abby Yeager - Final Demo

Final Project Lab Alpha - Drive, "Pick up" can, drive back remotely

Final Project Lab Alpha - Drive, "Pick up" can, drive back remotely

Team Beta - Abby Vision - PS7

Team Beta - Abby Vision - PS7

Team Beta - Robots After All Tour - PS6

Team Beta - Robots After All Tour - PS6

Remote Abby Arm Movement - Team Gamma

Remote Abby Arm Movement - Team Gamma

PS6b Lab Alpha - Moving Arm to Markers

PS6b Lab Alpha - Moving Arm to Markers

PS7 Lab Alpha - Point Cloud Processing to Find a Can

PS7 Lab Alpha - Point Cloud Processing to Find a Can

Group Delta Point Cloud Processing

Group Delta Point Cloud Processing

PS6b Abby Arm Demo Team Gamma

PS6b Abby Arm Demo Team Gamma

ABB IRM120 Arm Sim Team Gamma

ABB IRM120 Arm Sim Team Gamma

PS7 Robot Object Finder Coke Can Above Table CWRU Epsilon

PS7 Robot Object Finder Coke Can Above Table CWRU Epsilon

PS7 PCL Cylindrical Object Detection Team Gamma

PS7 PCL Cylindrical Object Detection Team Gamma

EECS 376: Group Delta Haus ABB irb120 Arm Control

EECS 376: Group Delta Haus ABB irb120 Arm Control

PS6 Robot Abby's IRB120 Arm Motion and IK Solution Selection DEMO - Epsilon

PS6 Robot Abby's IRB120 Arm Motion and IK Solution Selection DEMO - Epsilon

EECS 376: Group Delta Haus Closed Loop AMCL Navigation

EECS 376: Group Delta Haus Closed Loop AMCL Navigation

PS5 Lab Alpha - Driving with AMCL

PS5 Lab Alpha - Driving with AMCL

PS5 AMCL Jinx Team Gamma

PS5 AMCL Jinx Team Gamma

PS5 Odom Gazebo Team Gamma

PS5 Odom Gazebo Team Gamma

PS5 Robot Motion Planning DEMO Epsilon

PS5 Robot Motion Planning DEMO Epsilon

PS5 Odom Team Gamma

PS5 Odom Team Gamma

Jinx Meets think[box] - Beta Tested (PS5)

Jinx Meets think[box] - Beta Tested (PS5)

ABBY Arm ROS Bridge Demo/Tutorial

ABBY Arm ROS Bridge Demo/Tutorial

Tower, this is Jinx rider requesting Dead Reckoning - Beta Tested

Tower, this is Jinx rider requesting Dead Reckoning - Beta Tested

Team Gamma: Dead-reckoning control of cwruBot and Jinx

Team Gamma: Dead-reckoning control of cwruBot and Jinx

Team Delta Haus: Open Loop Navigation

Team Delta Haus: Open Loop Navigation

TeamEpsilon - Simulation and DEMO of Dead-Reckoning Control of Jinx and cwruBot Robots

TeamEpsilon - Simulation and DEMO of Dead-Reckoning Control of Jinx and cwruBot Robots

Jinx AMCL Demonstration

Jinx AMCL Demonstration

LabAlpha PS4 - Real Robot Demonstration

LabAlpha PS4 - Real Robot Demonstration

LabAlpha PS4 - cwruBot Simulator demo

LabAlpha PS4 - cwruBot Simulator demo

EECS 376 Project 3 Delta Haus

EECS 376 Project 3 Delta Haus

EECS 376 Project 4 DELTA HAUS

EECS 376 Project 4 DELTA HAUS

First Jinx Demo: Team Gamma

First Jinx Demo: Team Gamma

Robot Jinx DEMO (Epsilon PS3)

Robot Jinx DEMO (Epsilon PS3)

LabAlpha PS3 - Robot Demo

LabAlpha PS3 - Robot Demo

Team Beta 5 Hours Later...

Team Beta 5 Hours Later...

CWRU Mobile Robotics Class - Team Beta - Reactive Velocity

CWRU Mobile Robotics Class - Team Beta - Reactive Velocity