ToDo of FT SG

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ToDo of FT SG

Muramatsu

Theory

HOAP-2の運動制御の理解

参考文献の検索

Motion Planningの参考文献

佐藤先輩の修士論文

"ヒューマノイドロボット"5章中の参考文献のまとめ

Sysytem Integration

Workspace

Check the range of workspace

Singularity

Program

Environmental condition

Ogasawara

Others

Stereo Camera

Improve programs about detecting dirty on the white board

Kinect

PCL

Compare Kinect and Stereo Camera

Check the function

Read Sato's dissertation

Aoki

Read

"ヒューマノイドロボット"

Compile references about dynamic walk

Enable to use OpenHRP

Make controller

Make simulation with sample model and controller

Make easy model on GrxUI

Install OpenHRP

Okawa

”ヒューマノイド　ロボット”

HOAP-2 Repository

calc gravity for FT sensor

モーメントに対しての重力補償

各リンクのCoMと力覚センサとの距離の計算

力に対しての重力補償

力覚センサの位置と姿勢の計算

回転行列の確認

HOAP-2の上半身の質量の計算と比較

力覚センサを用いた質量の測定

Aikawa

Sub Task

Modify whoRoom

Check tools

Read Thesis

Preparation of NXT lecture for TA and IRC

Preplation for TA

PC

modify program

make TriBot

Confirmation of PID Control

Confirmation of NXT Program Made by Colleague

HOAP-2 Maintenance

Mend hoap2Programs Repository of Git

Research

System Integlation

Vision

MotionPlanning

Dynamic Walk

Other

Read thesis

Exp

OpenHRP

Make HOAP-2 Model in OpenHRP3

Motion/Force Control

Mountation to HOAP-2

Adopt control method of joint

Read thesis of Hara, Taguch, and Handa