Baxter Peg-In-Hole

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This is a demo of Baxter performing a Ball-in-Hoop which is analogous to a robot removing debris in a disaster environment. It is being controlled by an operator using it for his first time. In the second video you can see an operator who cannot see it at all can operate it as well. The operator is able to see what the robot sees by using the cameras on the robots head. The video feed is then sent to the user’s computer which shows the video feed on the Oculus Rift. The user can simply control the robot my moving the controller in front of him which is kinematically scaled.

Video Demo #1

Video Demo #2

Prototype w/controller version 1