====== 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 {{youtube>jqsE0pxuHic?large}}\\ * Test 1 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task {{youtube>8v9IakOn1ak?large}}\\ * 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 {{youtube>SkT9IHY7WbM?large}}\\ * Marker tracking and arm articulation {{youtube>W_P4UuxP6bU?large}}\\ * ICRA 2014 Video Submission - Peg-in-hole testing, flight tests with arm articulation, z-control, and marker tracking {{youtube>7N8T3a8DBFk?large}}\\ * 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 {{youtube>eIxy-znHSII?large}}\\ * 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 {{youtube>unV8DHLx-TQ?large}}\\ Video 2 - End-effector tracking an ARTag {{youtube>kcsQu3yitd0?large}}\\ ==== 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 {{youtube>8f6emhEnAoQ?large}}\\ Video 2 - Contact force test with UAV reaction {{youtube>rPQ-Yhx9EAY?large}}\\ Video 3 - Insertion and missed insertion with UAV reaction {{youtube>Jys4dtIrgdE?large}}\\ * 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