For this project the Sawyer robot will be used in its position-controlled mode, as well as one or two cameras. All the project will be implemented using ROS and Open CV for obtaining adequate information from the camera(s). The position and orientation of the end-effector will be controlled using any method of choice, which can be inverse kinematics, differential kinematics, inverse dynamics, etc.
There must be one or two cameras fixed in the environment, which will be used to detect the object and which can also be used to provide a finer feedback for grasping (visual servoing). The system must be trained to recognize at least three different objects (e.g. cups, bottles). These objects will be randomly positioned on a table. The user will only specify which object the robot must grasp, but neither the position nor the orientation of the object will be specified. The robot must be able to recognize the object, grasp it, and move it to another predefined location.
For this project the Kobuki differential mobile robot will be used. The Kobuki robots in the lab are currently controlled with another proprietary board, but for this project a microcomputer such as a Raspberry Pi will be used, instead, to control the mobile robot. This needs some additional wiring to provide energy to the microcomputer using the outputs of the Kobuki. Alternatively, any other mobile robot can be used as long as the motors are velocity controlled.
There must be one or two cameras fixed at the top of the environment in order to provide an estimation of the map where the robot will move. Random obstacles will be located in the environment. The robot will be left somewhere on the environment, and the user will specify the point the robot should move to but not the path that it will follow. The robot should autonomously find the path and move in the environment without colliding with objects. It is desired, but not mandatory, to provide the system with the ability to reconfigure itself even in a dynamic environment (when the obstacles change their position).
If you are interested in doing another project, you can also propose it during the lab session, and its feasibility will be discussed.
The deadline for the project presentation is on July 7 at 10 am. The demo and the presentation will be at that time. The grade of the project will have the following components: