I found useful pictures of hand movement terminology. These terms are essential to understand iCub’s hand and fingers DoF. I have read about FARS model of control of reaching and grasping (Fagg, Arbib et al.) Another article which copes with grasping models is Models for the control of grasping (Oztop and Kawato). Then I’ve drawn [...]
iCub has 6 touch sensors on each hand (5 are on the last part of fingers and 1 is on the palm). In the iCub Simulator, output from these sensors is available at port /robotName/touch and it is streamed as a list of 12 values Example of output: [lpam] 0.0 [rpam] 0.0 [lind] 0.0 [lmid] [...]
At the beginning of February I implemented neuralnetworks and reinforcement learning C++ libraries which I use in my iCub application. The most of the time I spent by implementation of the application which uses the CACLA algorithm to train iCub to reach objects. I’m also planning to create some UML package and class diagrams to [...]
Description of Cartesian Interface from documentation: The YARP Cartesian Interface has been conceived in order to enable the control of the arms and the legs of the robot directly in the operational space, that is instead of commading new configuration for the joints, user can require for instance the arm to reach a specified pose [...]
To get some idea how to build application for the iCub I started to study tutorials which are available in the iCub repository. On 22nd of December I made the first Hello World tutorial, to check whether links to ICUB and YARP libs works and to create the base CMakeLists for other tutorial sources. The [...]
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Master thesis of Lukáš Zdechovan,
a master degree student of Applied Informatics at Comenius University. Thesis is lead by docent Igor Farkaš.Categories
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