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Fifth ECHORD public summary. Project C-Kompai During February and March 2012 we have created of a document describing the capabilities and behavior of the Kompai robot before and after the C-Brain of Cognitive Robots is being installed. The enhanced capabilities are added to the original Kompai GUI with three buttons...
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Contour following and profile estimation Three different experiments have been performed to test the contour following algorithm. The first one concerns the measurement of a linear profile with an artificial burr (Figs. 1-2). Fig. 1 Fig. 2 Fig. 3 The two other experiments show the performance of the contour following system...
[Last edited
Dec 29, 2012
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Walk-through programming
The programming mode has been realised through a set of admittance controllers. It must be noticed that the tests reaveal that the classical implementation of the walk-through programming mode does not allow for motion in contact with a surface. It turns out that realising the walk-through...
[Last edited
Apr 15, 2012
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Walk-through programming
The problem of walk-through programming in contact with an hard surface is still under studying.
The main concerns are related to the implementation of a robust algorithm to detect the contact and estimate the normal to the surface. Wheel localisation and burr analysis
To localise the wheel a...
[Last edited
Jul 8, 2012
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