ARCL Robothon Team_A

Members : Hwasung (Mars) Seo, Ralf Römer, Pierre Reboud, Andres Gonzalez.

Task 1 - Self Collision

1.1 Check self-coliison from specific joint configuration - Pierre Reboud

Task 1.1

1.2 Indentify and avoid self-collision from given joint and Cartesian trajectories - Hwasung (Mars) Seo

Task 1.2

Task 1 is based on ROS by using MoveIt and Rviz.

       

Task 2 - Obstacle Avoidance

2.1 End-effector trajectory planning - Ralf Römer

Task 2.1

2.2 Joint obstacle avoidance - exploiting null space - Ralf Römer

Task 2.2

2.3 Learning - vision-based obstacle avoidance (RLBench) - Andres Gonzalez

Task 2.3

Task 2 is based on CoppeliaSim (lua, Matlab API and python) and Matlab with the Robotics System Toolbox (Task 2.2)