Grasp and delivery of objects to containers and cavities:
Merged mapping algorithm:
Grasp strategies adapting to objects pose:
The purpose of this project is a development of an autonomous mobile robot for RoboCup@Work competition. The robot is based on KUKA Youbot and can perform various tasks such as autonomous manipulation, computer vision, navigation, task planning.
The new architecture is based on ROS and Ubuntu and consists of 4 hardware parts: Jetson Xavier NX, Youbot PC, External PC and Arduino Mega. These devices are separated by their functions, according to the following picture.
Code samples:
-Computer vision
-Manipulation
-Navigation
-Task planning
-Physical modifications