Robots Using ROS: Assistive Robots at Georgia Tech's Healthcare Robotics Lab

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The Healthcare Robotics Lab focuses on robotic manipulation and human-robot interaction to research improvements in healthcare. Researchers at HRL have been using ROS on EL-E and Cody, two of their assistive robots. They have also been publishing their source code at gt-ros-pkg.

HRL first started using ROS on EL-E for their work on Physical, Perceptual, and Sematic (PPS) tags (paper). EL-E has a variety of sensors and Katana arm mounted on a Videre ERRATIC mobile robot base. The video below shows off many of EL-E's capabilities, including a laser pointer interface -- people select objects in the real-world for the robot to interact with using a laser pointer.

HRL does much of their research work in Python, so you will find Python-friendly wrappers for much of EL-E's hardware, including the Hokuyo UTM laser rangefinder, Thing Magic M5e RFID antenna, and Zenither linear actuator. You can also get CAD diagrams and source code for building your own tilting Hokuyo 3D scanner.

HRL also has a new robot, Cody, which you can see in the video below:

Update: you can read more on Cody at Hizook.

The end effector and controller are described in the paper, "Pulling Open Novel Doors and Drawers with Equilibrium Point Control" (Humanoids 2009). They've also published the CAD models of the end effector and the source code can be found in the 2009_humanoids_epc_pull ROS package.

Whether it's providing open source drivers for commonly used hardware, CAD models of their experimental hardware, or source code to accompany their papers, HRL has embraced openness with their research. For more information:

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This page contains a single entry by kwc published on March 17, 2010 8:49 AM.

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