Asibot - Implemented Modules

ASIBOT Implemented Robot Components
This page contains descriptions of Robot Component Guidelines v0.3 ASIBOT modules.

Category: Joint Motion Controllers

These modules' behaviour corresponds to Robot Component Guidelines v0.3 commands for JMCs.

jmc_rave (Ubuntu / Windows)

A module that instantiates a OpenRAVE kitchen with ASIBOT environment. No force control has been implemented. Further reference at Code Documentation: jmc_rave. [Modules_-_Standard_v0.2#Joint_Motion_Controllers Link to RCGv02 command format].

jmc_can (RT-Linux)

Controlls real robot.

Category: Cartesian Motion Controllers

These modules' behaviour corresponds to Robot Component Guidelines v0.3 commands for CMCs.

cmc_recursive (Ubuntu / Windows)

Based on recursive methods, such as Newton-Raphson. Should work fine between any interface and a JMC. Further reference at Code Documentation: cmc_recursive.

Category: Sensor

These modules' behaviour corresponds to Module Guidelines v0.3 commands for SNSs.

sns_xsens

A wrapper module for Xsense IMU.

http://robots.uc3m.es/svn/ASIBOTcoderepo/trunk/sns_xsens

Category: HMI

hmi_wiimote

A wrapper module for wiimote driver. Basic interface is as a sensor.

http://robots.uc3m.es/svn/ASIBOTcoderepo/trunk/hmi_wiimote

Category: Vision

vis_rsanchez

Currently under development, integrates OpenCV and GTK. Check out the recent video.