Description: Adaptation of Teleoperation Commands to Account for Intrinsic and Extrinsic Constraints: Application to the Reachy Robot
📖 User documentation • 👨💻 Developer documentation • 📈 Project report • 📚 Bibliography
This project explores various alternatives to the inverse kinematics solution implemented by Pollen Robotics, available on this repository, aiming to manage the robot's constraints and limitations. The Pinocchio and Pink libraries are used to carry out this work. Among the proposed solutions, the QP-based approach with barrier integration shows promising potential.
- Install instructions:
- Requirement :
- Launch instructions:
To launch the programm, the git must first be installed in Reachy stack, to a path of your choice. Then, our recommandation is to install src code in /home/reachy/dev/reachy2_symbolic_ik/src where the original control_ik function is located. If the path is modified, change it accordingly in the variable projet_pollen_folder_path in the file src/ik_methods.py.
📂 assets/urdf/reachy.urdf must be placed in 📂 /home/reachy/reachy_ws/src/reachy2_core/reachy_description/urdf/ for proper integration with the rest of the code.
Reachy must first be launched and when it is ready to start, it can be launched using the command line python3 {path}/projet_pollen/src/test_movement_test.py with {path} the previous path where you installed the projet_pollen folder.
| 💼 Client | Rémi Fabre and Vincent Padois |
| 🔒 Confidentiality | Public |
| ⚖️ License | Choose a license (1) |
| 👨👨👦 Authors | Kloé Bonnet and Guillaume Lauga |