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Posted over 5 years ago by jhidalgocarrio
We would like to announce the online videos from the Rock Workshop 2015. Rock Workshop 2015: Wheel-Walking on the Rocks Tim Wiese’s talk at the Rock Workshop 2015. A library was developed to handle the control and computation of the commands to ... [More] achieve the wheel walking motion with multiple gaits and several adjustable parameters. The library was incorporated in an Orogen component to integrate with the Rock framework running on the rover and handling a network of modules performing lower level locomotion control, data input/output and navigation tasks. The talk will give a brief introduction into the project background and the methodology behind the wheel walking kinematics computation and focus on the component implementation and integration into the Rock framework, discussing the benefits in terms of the structural separation of framework and library code, the reuse of existing Rock components, the management of component configurations and the built-in logging capabilities. It will conclude with a quick look at field testing and the handling of Rock in a two-machine setup in this environment. slides Rock Workshop 2015: The Future of Syskit Sylvain Joyeux’s talk at the Rock Workshop 2015. Present the future of Syskit, the system management layer for the Rock robotics framework (http://rock-robotics.org), with focus on the goal of having it usable (and used) at every step of the development process, and what it would give us.In a first part, I’ll present plans to modify syskit to be usable on the areas where it currently cannot currently be used: log replay, integration with vizkit. In a second part, I’ll show some longer term plans on awesome tooling that syskit trivially enables. Rock Workshop 2015: Controlling the BioRob arm Benjamin Girault’s talk at the Rock Workshop 2015. The presentation first present the concept behind the BioRob robotic arm. The control aspects will be explained in detail. The challenge comes from the fact it uses cables, pulleys as well as springs. The software architecture combining Orocos and ROS will be shown. Finally, the Robot - User - Interaction will be presented: the simple GUI and the teach-in modus to program the sequences. Rock Workshop 2015: Rock - Gazebo Integration slides Sylvain Joyeux’s talk at the Rock Workshop 2015. This presentation will present the design and implementation of the Rock-Gazebo integration we are polishing right now. The aim is to discuss the different technical trade-offs that have been taken, and why, as well as show some demonstrations. If time permits, I will also present some longer-term plans that would allow us to improve the state of simulation in general in Rock, as for instance proper faster- or slower-than realtime simulation. Rock Workshop 2015: Rock in deep sea Vincent Vittori’s talk at the Rock Workshop 2015. Presenting the different robots that are under development or already working with Rock at Marum by showing our use and improvements of rock. slides That’s all for this edition. Thanks everybody for coming and see you in the next one. [Less]
Posted over 5 years ago by jhidalgocarrio
We would like to announce the online videos from the Rock Workshop 2015. Rock Workshop 2015: Wheel-Walking on the Rocks Tim Wiese’s talk at the Rock Workshop 2015. A library was developed to handle the control and computation of the commands to ... [More] achieve the wheel walking motion with multiple gaits and several adjustable parameters. The library was incorporated in an Orogen component to integrate with the Rock framework running on the rover and handling a network of modules performing lower level locomotion control, data input/output and navigation tasks. The talk will give a brief introduction into the project background and the methodology behind the wheel walking kinematics computation and focus on the component implementation and integration into the Rock framework, discussing the benefits in terms of the structural separation of framework and library code, the reuse of existing Rock components, the management of component configurations and the built-in logging capabilities. It will conclude with a quick look at field testing and the handling of Rock in a two-machine setup in this environment. slides Rock Workshop 2015: The Future of Syskit Sylvain Joyeux’s talk at the Rock Workshop 2015. Present the future of Syskit, the system management layer for the Rock robotics framework (http://rock-robotics.org), with focus on the goal of having it usable (and used) at every step of the development process, and what it would give us.In a first part, I’ll present plans to modify syskit to be usable on the areas where it currently cannot currently be used: log replay, integration with vizkit. In a second part, I’ll show some longer term plans on awesome tooling that syskit trivially enables. Rock Workshop 2015: Controlling the BioRob arm Benjamin Girault’s talk at the Rock Workshop 2015. The presentation first present the concept behind the BioRob robotic arm. The control aspects will be explained in detail. The challenge comes from the fact it uses cables, pulleys as well as springs. The software architecture combining Orocos and ROS will be shown. Finally, the Robot - User - Interaction will be presented: the simple GUI and the teach-in modus to program the sequences. Rock Workshop 2015: Rock - Gazebo Integration slides Sylvain Joyeux’s talk at the Rock Workshop 2015. This presentation will present the design and implementation of the Rock-Gazebo integration we are polishing right now. The aim is to discuss the different technical trade-offs that have been taken, and why, as well as show some demonstrations. If time permits, I will also present some longer-term plans that would allow us to improve the state of simulation in general in Rock, as for instance proper faster- or slower-than realtime simulation. Rock Workshop 2015: Rock in deep sea Vincent Vittori’s talk at the Rock Workshop 2015. Presenting the different robots that are under development or already working with Rock at Marum by showing our use and improvements of rock. slides That’s all for this edition. Thanks everybody for coming and see you in the next one. [Less]
Posted over 5 years ago by jhidalgocarrio
We would like to announce the online videos from the Rock Workshop 2015. Rock Workshop 2015: Wheel-Walking on the Rocks Tim Wiese’s talk at the Rock Workshop 2015. A library was developed to handle the control and computation of the commands to ... [More] achieve the wheel walking motion with multiple gaits and several adjustable parameters. The library was incorporated in an Orogen component to integrate with the Rock framework running on the rover and handling a network of modules performing lower level locomotion control, data input/output and navigation tasks. The talk will give a brief introduction into the project background and the methodology behind the wheel walking kinematics computation and focus on the component implementation and integration into the Rock framework, discussing the benefits in terms of the structural separation of framework and library code, the reuse of existing Rock components, the management of component configurations and the built-in logging capabilities. It will conclude with a quick look at field testing and the handling of Rock in a two-machine setup in this environment. slides Rock Workshop 2015: The Future of Syskit Sylvain Joyeux’s talk at the Rock Workshop 2015. Present the future of Syskit, the system management layer for the Rock robotics framework (http://rock-robotics.org), with focus on the goal of having it usable (and used) at every step of the development process, and what it would give us.In a first part, I’ll present plans to modify syskit to be usable on the areas where it currently cannot currently be used: log replay, integration with vizkit. In a second part, I’ll show some longer term plans on awesome tooling that syskit trivially enables. Rock Workshop 2015: Controlling the BioRob arm Benjamin Girault’s talk at the Rock Workshop 2015. The presentation first present the concept behind the BioRob robotic arm. The control aspects will be explained in detail. The challenge comes from the fact it uses cables, pulleys as well as springs. The software architecture combining Orocos and ROS will be shown. Finally, the Robot - User - Interaction will be presented: the simple GUI and the teach-in modus to program the sequences. Rock Workshop 2015: Rock - Gazebo Integration slides Sylvain Joyeux’s talk at the Rock Workshop 2015. This presentation will present the design and implementation of the Rock-Gazebo integration we are polishing right now. The aim is to discuss the different technical trade-offs that have been taken, and why, as well as show some demonstrations. If time permits, I will also present some longer-term plans that would allow us to improve the state of simulation in general in Rock, as for instance proper faster- or slower-than realtime simulation. Rock Workshop 2015: Rock in deep sea Vincent Vittori’s talk at the Rock Workshop 2015. Presenting the different robots that are under development or already working with Rock at Marum by showing our use and improvements of rock. slides That’s all for this edition. Thanks everybody for coming and see you in the next one. [Less]
Posted over 5 years ago by jhidalgocarrio
The date is approaching…don’t miss the first rock workshop!
Posted over 5 years ago by jhidalgocarrio
The date is approaching…don’t miss the first rock workshop!
Posted over 5 years ago by jhidalgocarrio
The date is approaching…don’t miss the first rock workshop!
Posted over 5 years ago by jhidalgocarrio
The date is approaching…don’t miss the first rock workshop!
Posted over 5 years ago by jhidalgocarrio
The date is approaching…don’t miss the first rock workshop!
Posted over 5 years ago by jhidalgocarrio
The date is approaching…don’t miss the first rock workshop!
Posted over 5 years ago by jhidalgocarrio
The date is approaching…don’t miss the first rock workshop!