![]() ![]() Taylor also collaborated with Patrick Goebel to add in leg controls for moving a robot. ![]() With this additional controls, the operator can seamlessly use the wiimotes to transmit the additional information about the correct hand position, and you can use the buttons on the Wiimote to perform additional operations, like opening and closing grippers. ![]() Taylor solves this by enabling you to use Wiimotes in each hand. For those trying to use the skeleton tracking to control a robot's arms, this creates a pickup problem: you can get the arm to location you wish to grab an item, but you don't have the control you need over the angle of the hand and the opening and closing of the gripper to complete the task. One of the difficulties in using the skeleton tracking libraries with the Kinect is that you do not get much information about the hands of the operator. He also is running it on an Aldebaran Nao. He wasn't content to leave it at that: he beefed up his teleoperation system with Wiimote and leg-based control. Taylor Veltrop had the first ROS 3D contest entry with his teleoperation control of a humanoid KHR/Roboard robot. Automatic Calibration of Extrinsic Parameters.These are important for building tracking applications, as shown in the video, as well as building SLAM and other systems. They also released several lower-level libraries to help build other applications on top: libnabo for running fast K Nearest Neighbor, and libpointmatcher, a modular ICP library. If you run their software with the Kinect mounted, it will output the tf transform between your base_link and the camera, making configuration easy. The "Automatic Calibration of Extrinsic Parameters" entry from François Pomerleau, Francis Colas and Stéphane Magnenat of the Autonomous Systems Lab at ETHZ makes solving this problem easy for users and does much more. if you want to use it to run autonomous navigation. You've have your Kinect and want to mount it on your robot, but now you're faced with a challenge: you need to precisely determine the mounting point of your Kinect so that it the data from it can be interpreted correctly e.g. ![]()
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