Difference between revisions of "TEO"

Revision as of 10:06, 8 April 2016

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

Everyday Log

Links of General Interest

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

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.

teo-body: Contains TEO source code related to low-level joint movement, mainly CAN-bus.

teo-head: Contains TEO source code related to the head, such as computer vision and speech.

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]
- 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], teoLowres version: [5], lowres kin: [6].
  - Gazebo 3D and Kinematics+Mass/Inertia used by [7]: [8]
- Create working partitions (freeze for demos).
[Server]:
- Fix RH2repo, Fix TEOrepo, wiki cron.
[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.
[TEO] demos:
- We can put a hashtag in RoboticsLab twitter for promotion the robot when people take photos with it. For example: #IloveTeo
Accomplished Tasks

Tutorials

Many good tutorials (including GIT and SVN) in spanish

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

@@ Line 38: / Line 38: @@
 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]
-** Create working partitions (freeze for demos).
 ** Unify robot model:
 *** Mass/Inertia XLS (official based on mechanical schematics): [http://robots.uc3m.es/svn/TEOrepo/modelling/dynamics/Inercias_090518.xls] and PDF [http://robots.uc3m.es/svn/TEOrepo/modelling/dynamics/Inercias_090518.pdf].
@@ Line 44: / Line 43: @@
 *** OpenRAVE 3D and Kinematics used by [https://github.com/roboticslab-uc3m/teo-main/tree/master/programs/teoSim teoSim]: [https://github.com/roboticslab-uc3m/teo-main/tree/master/share/openrave/teo], teoLowres version: [https://github.com/roboticslab-uc3m/teo-main/tree/develop/share/openrave/teoLowres], lowres kin: [https://github.com/roboticslab-uc3m/teo-main/blob/develop/share/openrave/teoLowres/models/TEO_by_links.JPG].
 *** Gazebo 3D and Kinematics+Mass/Inertia used by [https://github.com/roboticslab-uc3m/teo_batc]: [https://github.com/roboticslab-uc3m/teo_batc/tree/master/teo_description]
+** Create working partitions (freeze for demos).
 * [Server]:
 ** Fix RH2repo, Fix TEOrepo, wiki cron.