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drexel_darwin_door_open [2016/11/01 15:35]
dwallace created
drexel_darwin_door_open [2016/11/07 17:16] (current)
dwallace
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 The following video shows different types of doors modeled on the DRC-Simulator,​ There are 3 types of doors here :  The following video shows different types of doors modeled on the DRC-Simulator,​ There are 3 types of doors here : 
-* Doors that open inwards +  ​* Doors that open inwards 
-* Doors that open outwards +  * Doors that open outwards 
-* Double doors+  * Double doors
 Each door has two types of mechanisms i.e. simple doors without friction and doors that close by themselves. ​ Each door has two types of mechanisms i.e. simple doors without friction and doors that close by themselves. ​
  
-{{#ev:youtube|txiKSJPMFTQ}} +{{youtube>txiKSJPMFTQ?large}}\\ 
  
 ---- ----
  
-== Summary of 5 Papers ​== +===== Summary of 5 Papers =====
- +
-1) Autonomous Door Opening and Plugging In with a Personal Robot +
-[[http://​dasl.mem.drexel.edu/​wiki/​images/​9/​9f/​Autonomous_Door_Opening_and_Plugging_In_with_a_Personal_Robot.pdf]]+
  
-2) CHOMP  Gradient optimization Technique for Efficient motion Planning + 1) Autonomous Door Opening and Plugging In with a Personal Robot 
-[[http://​dasl.mem.drexel.edu/​wiki/​images/​9/​9f/​CHOMP_Gradient_optimization_Technique_for_Efficient_motion_Planning.pdf]]+ ​[[http://​dasl.mem.drexel.edu/​wiki/​images/​9/​9f/​Autonomous_Door_Opening_and_Plugging_In_with_a_Personal_Robot.pdf]]
  
-3Manipulation ​Planning ​with Goal Sets using Constrained Trajectory Optimization + 2CHOMP  Gradient optimization Technique for Efficient motion ​Planning 
-[[http://​dasl.mem.drexel.edu/​wiki/​images/​c/c0/Manipulation_Planning_with_Goal_Sets_using_Constrained_Trajectory_Optimization.pdf]]]+ ​[[http://​dasl.mem.drexel.edu/​wiki/​images/​9/9f/CHOMP_Gradient_optimization_Technique_for_Efficient_motion_Planning.pdf]]
  
-4Probabilistic Roadmaps for Path Planning ​in High-Dimensional Configuration Spaces + 3Manipulation ​Planning ​with Goal Sets using Constrained Trajectory Optimization 
-[[http://​dasl.mem.drexel.edu/​wiki/​images/​8/84/Probabilistic_Roadmaps_for_Path_Planning_in_High-Dimensional_Configuration_Spaces.pdf]]+ ​[[http://​dasl.mem.drexel.edu/​wiki/​images/​c/c0/Manipulation_Planning_with_Goal_Sets_using_Constrained_Trajectory_Optimization.pdf]]]
  
-5Whole-body motion of a Humanoid robot for passing through a door + 4Probabilistic Roadmaps ​for Path Planning in High-Dimensional Configuration Spaces 
-[[http://​dasl.mem.drexel.edu/​wiki/​images/​3/37/Whole-body_motion_of_a_Humanoid_robot_for_passing_through_a_door.pdf]]+ ​[[http://​dasl.mem.drexel.edu/​wiki/​images/​8/84/Probabilistic_Roadmaps_for_Path_Planning_in_High-Dimensional_Configuration_Spaces.pdf]]
  
 + 5) Whole-body motion of a Humanoid robot for passing through a door
 + ​[[http://​dasl.mem.drexel.edu/​wiki/​images/​3/​37/​Whole-body_motion_of_a_Humanoid_robot_for_passing_through_a_door.pdf]]
  
  
-Summary of Continuous Trajectory Optimization for Autonomous Humanoid Door Opening[[http://​dasl.mem.drexel.edu/​wiki/​images/​d/​d4/​Door_Opening.pdf]]+ Summary of Continuous Trajectory Optimization for Autonomous Humanoid Door Opening 
 + [[http://​dasl.mem.drexel.edu/​wiki/​images/​d/​d4/​Door_Opening.pdf]]
  
 ---- ----
  
-== Simulations of Darwin-OP ​opening ​a Door and walking through ​==+===== Simulations of Darwin-OP ​Opening ​a Door and Walking Through =====
  
-''' ​1) [[Opening single Door outward and walking through]]'''​+ **1) [[drexel_darwin_single_door_outward_sim|Opening single Door outward and walking through]]**
  
  
-''' ​2) [[Opening Double Door Outward and walking through]]'''​+ **2) [[drexel_darwin_double_door_sim|Opening Double Door Outward and walking through]]**
  
  
-'''​ 2) [[Opening Single Door Inward and walking through]]'''​+ **3) [[drexel_darwin_single_door_inward_sim|Opening Single Door Inward and walking through]]**
  
-== Demonstration of the Door-opening Task on the Darwin-Op robot ==+===== Demonstration of the Door-opening Task on the Darwin-Op robot =====
  
-''' ​[[Preparing the Hardware]] ​'''​+ **[[drexel_darwin_hardware|Preparing the Hardware]]**
  
-''' ​1) [[Opening single Door outward]] ​'''​+ **1) [[drexel_darwin_single_door_outward_real|Opening single Door outward]]**
  
  
-''' ​2) [[Opening single Door inward]] ​'''​+ **2) [[drexel_darwin_single_door_inward_real|Opening single Door inward]]**
  
  
-''' ​3) [[Opening double Door outward]] ​'''​+ **3) [[drexel_darwin_double_door_real|Opening double Door outward]]**
drexel_darwin_door_open.txt · Last modified: 2016/11/07 17:16 by dwallace