Welcome to DE3-ROB1-FEEDING’s documentation!

By Grace, Ina, Jacob, Lidia and Tilly:

About

The goal of this project is to program the a robot to feed a person. The outcome of the project will be demonstrated by performing the whole scenerio fully autonomously, including the perception of the person, the person’s mouth, etc.

Third year MEng Design Engineering undergraduates Robotics 1 Project (2018)

Project Information

• Brief Given
  • Technical Tools
  • Equipment
• Project Plan
  • Problem definition
  • Key User Needs
  • Live Demo Scenario
  • Flowchart
  • List of Resources/ Equipment

Technical Development

• Overview
  • Feeding Process
  • ROS Organisation
  • File Directory
• Using Baxter
  • Setting Up
  • Turning Baxter on
  • Enable Robot
  • Running Baxter
  • Credits
• Baxter Control
  • Receives Baxter Information
  • Control Limbs
  • Control Grippers
  • Playback Recorded Trajectory
  • Motion Planning
• Cameras
  • Hand Camera
  • Kinect Camera
  • Perception

Demonstration

• Scenerio
• Demo
• Step-By-Step
  • Food Detection Demo
  • Baxter Moving to Mouth Demo

Additional Information

• Franka vs Baxter
• Using Franka
  • Setting Up
  • Connecting to FRANKA
  • Controlling Franka
  • Credits
• Contact