Hubo DRC Peg-In-Hole & Valve Turn

Overview

The ARCHR controller maintained accurate control of Baxters end effector within a sphere of 4cm. It was purchased by George Mason University in Spring 2014 and a major robot in the ARCHR project. Our project utilizes ROS and Baxter SDK scripts together with our stereovision system to offer an immersive controller. Its use could be extended in the future by adding realistic barrel vision, vibrational feedback, as well as implementing the Baxters features available from the sonar, IR, wrist-camera, and built-in front-facing camera. See rethink robotics webpage on Baxter and its various features here.

Tutorials

• Setting up the software environment for Baxter
• Running the first script "Hello World" with Baxter

Code

Setting up the code

1:

$ cd /

Running the code

1:

Videos

Video demonstration for the physical controller

Video demonstration for the keyboard controller

Valve-turn is in prototype stage, a sample environment is included in the link above. It can be selected by modifying the 'VirtualHubo.py' file located in the '/etc/hubo-ach' folder and selecting the line for valve-turn.

• Video of Attempt

Building

• N/A

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The Hubo-DRC successfully performs peg-in-hole via the ARCHR team's controller and instructions are located here