DASL Wiki

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====== MM-UAV Status Page ======

==== October 1-31st, 2013 ====

=== Status ===

  * Gantry playback of UAV motions
  * Insertion experiments

=== Reflection ===

  * Test 2 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task with compliance

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  * Test 1 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task

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  * Gantry playing back log file of x-y-z positions and velocities of UAV flight

{{youtube>8z4qR3R2JG8?large}}\\ 

  * Position history (x-y)

{{dylanw:uav-xy-pos.jpg}}\\ 

==== September 1-30th, 2013 ====

=== Status ===
  * Conference paper writing (ICRA)
  * Gain tuning

=== Reflection ===

  * Controller testing without manipulator attached

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  * Marker tracking and arm articulation

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  * ICRA 2014 Video Submission - Peg-in-hole testing, flight tests with arm articulation, z-control, and marker tracking

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  * 3-DOF Arm, 1-DOF gripper, manual control

{{youtube>VtMT8KqFm9M?large}}\\ 

  * First flights - manual control, tethered power and communications, ROS infrastructure using mavlink and roscopter, 3 serially linked MX-28 Dynamixels implementing a spherical wrist (yaw, pitch, roll).  Arm left un-actuated (not powered).

{{youtube>S8KwldHP7C4?large}}\\ 

==== August 1-31st, 2013 ====

=== Status ===

  * Thesis writing
  * MM-UAV aircraft and arm development

==== July 1-31st, 2013 ====

=== Status ===

  * Progress toward a fast-IK solver
  * Simulation environment and testing

=== Reflection ===

  * Simulink Block Diagram

{{dylanw:block.png}}\\ 

  * Simulink Animation

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  * Pick-and-place and peg-in-hole at the Larics Lab

{{youtube>9TqlA6k6HBY?large}}\\ 

  * Robotics Toolbox simulation model for MM-UAV

{{dylanw:rtb.jpg}}\\ 

  * Visual servoing using motion capture and an ARTag marker 

Video 1 - End-effector tracking a motion capture marker

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Video 2 - End-effector tracking an ARTag

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==== June 1-30th, 2013 ====

=== Status ===

  * Joint work with Matko Orsag to tune MM-UAV velocity and pitch controller

=== Reflection ===

  * Peg-in-hole insertion using Cartesian impedance control

Video 1  - No UAV reaction

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Video 2  - Contact force test with UAV reaction

{{youtube>rPQ-Yhx9EAY?large}}\\ 


Video 3  - Insertion and missed insertion with UAV reaction

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  * Control Architecture

{{dylanw:gantryanglecontroller.jpg}}\\ 

  * Applied pitch torque and UAV linear velocity

{{dylanw:plot.jpg}}\\ 

==== May 1-31st, 2013 ====

=== Status ===

  * Presented paper at ICRA conference in Karlsruhe, Germany
  * Presented paper at ICUAS conference in Atlanta

=== Reflection ===

  * Picture - ICRA presentation

{{dylanw:icra.jpg}}\\ 

==== April 1-30th, 2013 ====

=== Status ===

  * Presented paper at TePRA conference in Boston
  * Built ROS Moveit package for MK2 Arm

=== Reflection ===

  * Video1 - Moveit motion planning test

{{youtube>2IYoOfmbnSM?large}}\\ 

==== March 1-31st, 2013 ====

=== Status ===

  * Final TePRA paper submitted for publication
  * Final ACC paper submitted for publication

=== Reflection ===

  * Video1 - Tool usage tests

{{youtube>w-dQxI4dq2o?large}}\\ 

{{dylanw:tool1.jpg }} {{ dylanw:tool2.jpg}}\\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ 

  * Video2 - Improved MM-UAV Gantry control through torque feedback
    * The torque sensors in the MK2 torso measure applied joint torque which is then added as a disturbance to a linear velocity reaction in the gantry 

{{youtube>sL_x6QRy8DQ?large}}\\ 

==== February 1-28st, 2013 ====

=== Status ===

  * Specifics on [http://www.hdtglobal.com/services/robotics/mk2-robotic-arm/ HDT MK2 Robotic Arm]
  * TePRA paper accepted for publication
  * ACC paper accepted for publication
  * ICUAS paper submitted
  * Conducted torque profiling experiments
  * Attended conference call between ARL-DU-Drexel on MM-UAV collaboration

=== Reflection ===

  * Video1 - MM-UAV Gantry control through torque feedback
    * The torque sensors in the MK2 torso measure applied joint torque which is then mapped to a linear velocity reaction in the gantry
    * Impedance control is currently enabled to allow for a push-pull on the aircraft

{{youtube>GRvt0E93q7s?large}}\\ 

  * Images
    * Hose insertion testing and torque profiling 
 
{{dylanw:insert1.jpg}} Approach\\ 
{{dylanw:insert2.jpg}} Movement\\ 
{{dylanw:insert3.jpg}} Contact \\ 

  * Torque profile for elbow pitch joint

{{dylanw:profile.jpg}}\\ 

  * Video2 - MM-UAV tool usage
    * Arm easily grabs and drills a hole. Joint control is difficult through a joystick which is why the movements are jerky and slow

{{youtube>H40gGg3BKo0?large}}\\ 

  * Video3 - MK2 impedance control testing
    * Elbow pitch and wrist pitch joints set with inertia, stiffness, and damping parameters

{{youtube>WA-LwT-YMKY?large}}\\ 

  * Video4 - MK2 RViz Simulation

{{youtube>ST3DUcDHeLA?large}}\\ 

=== Milestones ===

=== Tasks ===

==== January 1-31st, 2013 ====

=== Status ===

  * ROS-packages operational 
    * /command messages and /joint_state feedback for 3-DOF torso, 7-DOF arm, and 4-DOF end-effector 
    * Gantry control through /cmd_velocity messages
    * Gantry feedback through /tf published by motion capture system
    * CAD exported to URDF with RViz mimicing joint states
  * Mounted HDT MK2 Arm and Torso to 3-DOF Gantry
    * Arm consists of 7-DOFs to include shoulder pitch, roll, yaw; elbow pitch; wrist yaw, pitch, roll joints
    * 4-DOF end-effector has opposable thumb yaw joint, thumb pitch joint, index finger pitch joint, and ring finger pitch joint
    * Torque feedback on all joints. Finger actuators provide ~2 Nm of torque
  * TePRA paper submitted
  * ICUAS paper in-progress

=== Reflection ===
  * Video1 - MM-UAV grasping test
    * End-effector easily provides enough grasping force for 1600g hose. Arm is joystick-operated to insert hose into pump.

{{youtube>YDHlqUQuQuI?large}}\\ 

  * Video2 - ROS and Rviz environment
    * ROS-package provides control of each actuator and sensor feedback updates robot and joint states in Rviz.

{{youtube>_Y_EE6xdvZ8?large}}\\ 

  * Still Images
    * Concept poses for potential MM-UAV tasks (all poses were done through tele-op control)
 
{{dylanw:2013-02-05_21.12.48.jpg }} {{ dylanw:2013-02-05 21.16.33.jpg}}\\ 
{{dylanw:2013-02-05 21.08.42.jpg }} {{ dylanw:2013-02-05 21.27.13.jpg}}\\ 

=== Milestones ===

  * All actuators can be commanded with position/velocity/torque feedback. Impedance control has been tested but not implemented. Motion capture is operational. Gantry control through ROS.
  * Software infrastructure consists of ROS and OpenRAVE

=== Tasks ===

  * Develop an ikfast plugin using OpenRAVE
  * Run a whole-body kinematic trajectory on MM-UAV
  * Implement aircraft model and attitude controller on gantry and gimbal
  * Implement impedance control on manipulator to provide active compliance during task execution

==== General Information ====

=== Mission Description ===

MM-UAV will focus on three classic control problems: peg-in-hole, value turning, and door opening. These task align with the DARPA Robotics Challenge Events 4, 7, and 8.

The first task under study is Task 8.

  * Task 8 - Connect cable or hose
    * Perception ability to locate and manipulation ability to make connection
    * Hose could be firefighting water hose or electrical cable
    * Will have to carry across terrain then connect

{{dylanw:missiondescription.jpg}}\\ 
  * Hose installation\\ 

=== Main Focus ===

To complete the task, things listed below must be integrated.
  * Grasping
  * Manipulation
  * Lifting & Carrying
  * Flight Stability
  * Impedance/compliance control

=== Project Lead ===

  * Drexel Autonomous System Laboratory (DASL) directed by Dr. Paul Y. Oh, Mechanical Engineering and Mechanics, Drexel University
    * Kinematic & Dynamic motion planning for whole-body lifting and carrying
    * Whole-body motion control design

**Contact info:**
**Paul Y. Oh**, Professor: paul@coe.drexel.edu, **Christopher Korpela**, Ph.D candidate: cmk325@drexel.edu