TEO

Welcome to the TEO Wiki. Links to other robot projects can be found in the Main Page.

Everyday Log

• Excel: Drivers Check
• Procedure
• Logbook

Links of General Interest

• Drawings: TEO Diagrams, link in TEOrepo
• Videos: jgvictores channel santimorante channel
• Cluster: TEO Network, IP, MAC and PC specification list

Repositories

All part of the roboticslab-uc3m organization at GitHub

• teo-main: Contains all TEO source code, except for what is in teo-body and teo-head.
  • Documentation (teo-main)
  • Source code (teo-main)
  • Post an issue / Feature request / Specific documentation request (teo-main)

• teo-body: Contains TEO source code related to low-level joint movement, mainly CAN-bus.
  • Documentation (teo-body)
  • Source code (teo-body)
  • Post an issue / Feature request / Specific documentation request (teo-body)

• teo-head: Contains TEO source code related to the head, such as computer vision and speech.
  • Documentation (teo-head)
  • Source code (teo-head)
  • Post an issue / Feature request / Specific documentation request (teo-head)

• TEOrepo: Private repository containing HW, backups, etc
  • Source code (TEOrepo)

To Do

This list should also include long-shot ideas, and applies for: this server, this wiki, TEO (the actual robot), and TEOrepo. For teo-main, teo-body and teo-head, please use the previously provided links.

• [General]
  • Better preparation for demos:
    • Problem: Battery may fail during or before demo.
      • Solution: Battery and power source improvements. Status: on the way!
    • Problem: Too many hands on robot PCs.
      • Solution 1: Only one demo: all should be integrated in same application. Status: will do after IROS2016 deadline.
      • Solution 2: Create one partition per PC freezed at working demo: no experimental programs/drivers, missing packages, and/or programs/libraries compiled with deactivated functions. Status: will do after IROS2016 deadline.
  • Unify robot model:
    • Mass/Inertia XLS (official based on mechanical schematics): [1] and PDF [2].
    • Kinematics(DH)+Mass/Inertia used by KdlSolver: [3].
    • OpenRAVE 3D and Kinematics used by teoSim: [4].
    • Gazebo 3D and Kinematics+Mass/Inertia used by [5]: [6]
• [Server]:
  • Fix RH2repo, Fix TEOrepo, wiki cron, reserve excel.
• [Wiki] Diagrams:
  • Camera X axis offset.
  • Masses.
• [TEO] Hardware:
  • Rebuild electronics of the legs (Fix legs DC/DC)
  • Fixing power source cabling problems
  • Battery management system
  • [15] (WARNING) ENCODER WIRES.
  • [24] (WARNING) ENCODER WIRES.
  • [left hand circuit] Solder capacitor.
  • [right force circuit] Solder capacitor.
  • Force sensor cables.
  • [idea] Foam on arms for PbD.
• [TEOrepo] PIC firmware:
  • Read 485 for JR3 force sensors.
• Accomplished Tasks

Tutorials

• Many good tutorials (including GIT and SVN) in spanish

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• Link to the Old Google Group
• Link to the Old RH2 page
• Link to the Old Repository RH2repo (old SVN) (SVN Tutorial: spanish)
• Backups: http://robots.uc3m.es/svn/TEOrepo/backups