On Mar 9, 2011, at 12:33 AM, Marcus Liebhardt wrote:
Dear ROS community,
First of all, I want to thank all developers and contributors very
much for all your efforts you put into the ROS project! Two months ago, I
started to work with ROS and it was a
pleasure to learn it. The wiki, the tutorials and the information
provided by the mailing lists allowed me to progress very fast.
I just submitted an enhancement patch (#5063) for the pr2_mechanism_model
package, which adds a new helper class for trees. This class is
derived from and structured like the one for chains written by Stuart
Glaser and Wim Meeussen. I hope, it is a useful contribution. Please let me know, if you
like me to apply changes!
To give you an idea,
where my motivation comes from and in which context that helper class
fits, I would like to give you a short introduction to my work. My
intent is also to get into contact with
developers, who work on the same or related fields. I would be happy to
share ideas, problems and hopefully solutions as well! :-)
I
am doing my master thesis on unilateral teleoperation here at PAL
Robotics . More specific, I will focus on creating a controller to
move the upper body of an humanoid robot. We use Microsoft's Kinect as
the
input device for the operator's commands.
Similar projects have already been published in the ROS 3D Contest, like Halit Bener SUAY's "Humanoid Robot Control and Interaction" and the various contributions of Taylor Veltrop about "Humanoid teleoperation".
Among the key problems, which I will address in the next four months,
are adjustment to different users, joint limit avoidance and optimal
configuration(s) concerning expressiveness and precision.
To
implement this controller I am working with ROS and KDL. For the
above mentioned challenges there is still work to do with the utilised
inverse kinematics solvers. Therefore I am also in contact with
KDL developers (see related discussions on the KDL-users and KDL-developers mailing list).
So,
thanks for taking the time to read this long email and please let me
know, if you have any questions and/or you would like me to provide more
information about the project. I am looking forward to pool development efforts!
With best wishes from Barcelona,
Marcus Liebhardt
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