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Searching Baxter's URDF robot joint and link tree for active serial chains
conference contribution
posted on 2015-01-01, 00:00 authored by Michael Alan Mortimer, Ben HoranBen Horan, Matthew JoordensMatthew Joordens, Aleksandar StojcevskiTeleoperation is integral to society's uptake of modern robotic systems. Given the wide array of readily available robots, ranging from simple mobile platforms and UAVs to advanced humanoid robots such as ASIMO and PR2, teleoperation is required in many different forms. The recent advances in virtual reality systems, interactive input controls and even haptic devices facilitate a wide range of new approaches to teleoperation control. This paper considers a dynamic user interface for improving the operator's ability to teleoperate heterogeneous robotic systems in dynamic and challenging environments. In order to achieve the proposed dynamic user interface the robot(s) comprising the heterogeneous robotic system and their active components need to be categorized. The recent uptake of ROS means that many robots are now represented within the standardized Unified Robot Descriptive Format (URDF), and this paper proposes a method for searching the URDF for active serial chains in individual robot systems. Results demonstrate the ability of the approach to determine active serial chains and associated kinematic information for the Baxter torso robot.
History
Event
System of Systems Engineering. Conference (10th : 2015 : San Antonio, Texas, USA)Pagination
428 - 433Publisher
IEEELocation
San Antonio, Tex.Place of publication
Piscataway, N. J.Publisher DOI
Start date
2015-05-17End date
2015-05-20ISBN-13
9781479976119Language
engPublication classification
E Conference publication; E1 Full written paper - refereedCopyright notice
2015, IEEETitle of proceedings
SoSE 2015 : 10th IEEE International Conference on System of Systems EngineeringUsage metrics
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