VVV09 Manipulation Group

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A place for meeting/discussion for people interested in doing manipulation with the iCub: Topics:

  • Reaching
  • Grasping
  • 3-D vision

Last year's reaching/grasping group: Link

Ideas / Message wall

  • Demo idea: Two-handed manipulation, putting lego pieces together using both arms of the iCub.
  • Please add your name to the participant lists and feel free to make subteams, and reorganize goals/ possible solutions
  • A git repository for sharing our code is ready! Please send me (Alexis) your public ssh key (usually ~/.ssh/id_dsa.pub or ~/.ssh/id_rsa.pub). Then you will be able to pull and push to the GIT repository. Instructions below!
  • Let's try to sit together on Wednesday to work together faster

Divide and conquer

We had a small informal meeting on Tuesday (21.7.) before lunch and came out with a possible work distribution:

Perception team

This team has the following goals:

  • First we detect the lego pieces on the table, and after grasping them, we need to detect them again in the hand, to see where they really are held.
  • We need a 3D position in the coordinate frame of the cameras (or better, of the iCub).
  • Initially, we can keep the eyes fixed, but moving the head and eyes would be a nice plus.
  • Matteo has a working ball tracker that might be adjusted (if you want to use that, please see: 3D_ball_tracker).
  • We could put the legos together 'with eyes closed' (see first, then move pieces together), or use visual servoing to make the process better.

Participants:

  • Matteo
  • Jakob
  • Federico T.
  • Giovanni

Here you can find a set of images illustrating possible operating conditions for the grasp demo.

Grasping team

This team has the following goals:

  • make a small library of grasps (e.g. 3-finger pinch, 2-finger pinch, power grasp).
  • when a grasp movement is being executed, monitor the positions and currents of the hand -> Detect contact with the object and stop.
  • when holding the object, monitor the currents/positions and figure out if the piece is falling down. -> Learn a classificator using joint positions/currents?
  • Avoid destroying the iCub's hand!

Participants:

  • Julian
  • Theo

Reaching team

This team has the following goals:

  • Use inverse kinematics to get the hand in the right position and orientation for grasping.
  • After grasping the piece, bring it close to the face, and rotate it until the perception team finds the exact position of the piece in the hand.
  • Redefine the tool of the arm as the position of the piece, and move in cartesian coordinates based on it.
  • Put the two pieces together, detect the event monitoring the force sensors, or vision?
  • Try the new iKin-based inverse kinematics, done by Ugo Pattacini

Participants:

  • Alexis
  • Federico
  • Boris


git repository

  • We will use GIT locally (inside the summer school) for now, since accessing the CVS server in sourceforge is very slow. But we will integrate the working system into the iCub repository before we finish next week. (Giorgio's suggestion)

Install git on your laptop, give Alexis your public ssh key, and then do the following:

 git clone gitosis@192.168.2.253:vvvmanipulation.git

You should get a directory called vvvmanipulation

When you make your changes, remember to do:

 git add files
 git commit            #Add some good comment
 git pull --rebase     #This synchronizes with the server
 git push              #Sends your changes to the server