Searching Baxter's URDF robot joint and link tree for active serial chains

Mortimer, Michael, Horan, Ben P, Joordens, Matthew and Stojcevski, Alex 2015, Searching Baxter's URDF robot joint and link tree for active serial chains, in SoSE 2015 : 10th IEEE International Conference on System of Systems Engineering, IEEE, Piscataway, N. J., pp. 428-433, doi: 10.1109/SYSOSE.2015.7151971.

Attached Files
Name Description MIMEType Size Downloads

Title Searching Baxter's URDF robot joint and link tree for active serial chains
Author(s) Mortimer, Michael
Horan, Ben PORCID iD for Horan, Ben P orcid.org/0000-0002-6723-259X
Joordens, MatthewORCID iD for Joordens, Matthew orcid.org/0000-0003-2253-4428
Stojcevski, Alex
Conference name System of Systems Engineering. Conference (10th : 2015 : San Antonio, Texas, USA)
Conference location San Antonio, Tex.
Conference dates 17-20 May 2015
Title of proceedings SoSE 2015 : 10th IEEE International Conference on System of Systems Engineering
Publication date 2015
Start page 428
End page 433
Total pages 6
Publisher IEEE
Place of publication Piscataway, N. J.
Keyword(s) Baxter
ROS
URDF
Shared Autonomy
Teleoperation
Virtual Reality
Summary Teleoperation is integral to society's uptake of modern robotic systems. Given the wide array of readily available robots, ranging from simple mobile platforms and UAVs to advanced humanoid robots such as ASIMO and PR2, teleoperation is required in many different forms. The recent advances in virtual reality systems, interactive input controls and even haptic devices facilitate a wide range of new approaches to teleoperation control. This paper considers a dynamic user interface for improving the operator's ability to teleoperate heterogeneous robotic systems in dynamic and challenging environments. In order to achieve the proposed dynamic user interface the robot(s) comprising the heterogeneous robotic system and their active components need to be categorized. The recent uptake of ROS means that many robots are now represented within the standardized Unified Robot Descriptive Format (URDF), and this paper proposes a method for searching the URDF for active serial chains in individual robot systems. Results demonstrate the ability of the approach to determine active serial chains and associated kinematic information for the Baxter torso robot.
ISBN 9781479976119
Language eng
DOI 10.1109/SYSOSE.2015.7151971
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2015, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30075330

Document type: Conference Paper
Collection: School of Engineering
Connect to link resolver
 
Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved.

Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 1 times in TR Web of Science
Scopus Citation Count Cited 1 times in Scopus
Google Scholar Search Google Scholar
Access Statistics: 285 Abstract Views, 1 File Downloads  -  Detailed Statistics
Created: Wed, 02 Dec 2015, 11:23:50 EST

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.