Difference between revisions of "TEO"
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* To Do (software/teo-main): | * To Do (software/teo-main): | ||
** TEO model in simulator with all joints. | ** TEO model in simulator with all joints. | ||
| − | ** Kinematics configuration files for all joints for KdlController ([http://robots.uc3m.es/svn/TEOrepo/modelling/diagrams | + | ** Kinematics configuration files for all joints for KdlController ([[TEO Diagrams]], [http://robots.uc3m.es/svn/TEOrepo/modelling/diagrams link in repo]). |
** Full dynamics ([http://robots.uc3m.es/svn/TEOrepo/modelling/dynamics dynamics]). Unlocks gravity compensation and force control once we have current control. | ** Full dynamics ([http://robots.uc3m.es/svn/TEOrepo/modelling/dynamics dynamics]). Unlocks gravity compensation and force control once we have current control. | ||
** Speech recognition. | ** Speech recognition. | ||
Revision as of 22:33, 21 January 2015
Welcome to the TEO Wiki. Links to other robot projects can be found in the Main Page.
- Repository: TEOrepo (SVN) (SVN Tutorial: spanish)
- Google Group: humanoidesroboticslab
- Youtube: jgvictores channel santimorante channel
- IP and MAC list of Main PC, etc: TEO Network information
- Drawings: TEO Diagrams
- Main PC documentation (doxygen): teo-main
- Body PCs documentation (doxygen): teo-body
- Head PC documentation (doxygen): teo-head
- To Do (electronics):
- Solder capacitors (left hand, right force).
- To Do (mechanics):
- Fix both elbow motor/drivers... Left elbow encoder wires? Right elbow driver, subsitute for wrist one???
- Fix right elbow shoulder encoder wires (fails sometimes).
- Head pan.
- Force sensor cables.
- Foam on arms for PbD.
- To Do (diagrams):
- Remove gripper ports from Joints_(yarp).svg
- Add canDevice on Joints_(can).svg
- To Do (software/teo-main):
- TEO model in simulator with all joints.
- Kinematics configuration files for all joints for KdlController (TEO Diagrams, link in repo).
- Full dynamics (dynamics). Unlocks gravity compensation and force control once we have current control.
- Speech recognition.
- (needed?) Small QR detector module.
- (needed?) Paint TEO model in simulator white.
- To Do (software/teo-body):
- Update and test launchManipulation, recordManipulation, playbackManipulation (ptMode).
- Make fail recovery program for iPOS using BodyBot (will have to modify BodyBot and motoripos).
- Fix units of motoripos velocity control.
- Fix units of motoripos current control.
- Update and test launchLocomotion, recordLocomotion, playbackLocomotion (ptMode).
- (needed?) Modularize and abstract HicoCan on BodyBot.
- To Do (software/teo-head):
- vision: cylinder 3d position+orientation and color detector. Can be based on captureToolXyz and cylinderSegmentation, but cylinderSegmentation never gets the main (only) cylinder.
- To Do (software/PIC):
- reading SPI for CUI absolute encoders (Juanmi).
- reading 485 for JR3 force sensors.
- To Do (software/general):
- Define behavior (check this out).
- Create and upload more backup images (backups).
- Move to github? Better issues tracker. Trello? But don't want more tools and accounts...
- Tests and mockup objects.
- Continuous Integration framework.
- TEO Accomplished Tasks