drexel_darwin_door_open
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drexel_darwin_door_open [2016/11/01 15:35] – created dwallace | 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, | The following video shows different types of doors modeled on the DRC-Simulator, | ||
- | * 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:// | + | |
- | 2) CHOMP Gradient optimization Technique for Efficient motion Planning | + | 1) Autonomous Door Opening and Plugging In with a Personal Robot |
- | [[http:// | + | |
- | 3) Manipulation | + | 2) CHOMP Gradient optimization Technique for Efficient motion |
- | [[http:// | + | |
- | 4) Probabilistic Roadmaps for Path Planning | + | 3) Manipulation |
- | [[http:// | + | |
- | 5) Whole-body motion of a Humanoid robot for passing through a door | + | 4) Probabilistic Roadmaps |
- | [[http:// | + | |
+ | 5) Whole-body motion of a Humanoid robot for passing through a door | ||
+ | | ||
- | Summary of Continuous Trajectory Optimization for Autonomous Humanoid Door Opening[[http:// | + | Summary of Continuous Trajectory Optimization for Autonomous Humanoid Door Opening |
+ | [[http:// | ||
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- | == Simulations of Darwin-OP | + | ===== Simulations of Darwin-OP |
- | ''' | + | **1) [[drexel_darwin_single_door_outward_sim|Opening single Door outward and walking through]]** |
- | ''' | + | **2) [[drexel_darwin_double_door_sim|Opening Double Door Outward 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 ===== |
- | ''' | + | **[[drexel_darwin_hardware|Preparing the Hardware]]** |
- | ''' | + | **1) [[drexel_darwin_single_door_outward_real|Opening single Door outward]]** |
- | ''' | + | **2) [[drexel_darwin_single_door_inward_real|Opening single Door inward]]** |
- | ''' | + | **3) [[drexel_darwin_double_door_real|Opening double Door outward]]** |
drexel_darwin_door_open.1478039723.txt.gz · Last modified: 2016/11/01 15:35 by dwallace