Software Control of a SuperDroid Robot Chassis and Custom Robot Arm with Simulated Human Operator Performing a Steering Task ?

Submitted by on Nov 02 2015 } Suggest Revision
By:
Project: http://deepblue.lib.umich.edu/handle/202...
From: Automotive Research Center, University of Michigan
Paper:
Resource Type:
Code
License:
Other/Unknown
Language:
Java/C++/Matlab
Data Format:

Description

This software is used to control physical and simulated versions of the SuperDroid Robot Chassis using the University Interface and a custom-built robot arm actuated with Dynamixel Servos using the April Robotics Lab's Java libraries along with the LCM library for communications. It also contains MATLAB code to simulate a human operator for a steering task, using a PD controller tuned to match the average operator performance and behavior observed during a set of user tests. The state of this software is a snapshot from January 2014, and is under continued development by Prof. Dawn Tilbury's lab.
Categorized in: Applications | Military | Robotics | Manipulation & Locomotion
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