ToDo of FT SG
Aikawa
Research
Motion/Force Control
Read thesis of Hara, Taguch, and Handa
Adopt control method of joint
Mountation to HOAP-2
System Integlation
Dynamic Walk
OpenHRP
Make HOAP-2 Model in OpenHRP3
Exp
Other
Read thesis
MotionPlanning
Vision
Sub Task
HOAP-2 Maintenance
Mend hoap2Programs Repository of Git
Preparation of NXT lecture for TA and IRC
Confirmation of NXT Program Made by Colleague
Confirmation of PID Control
Preplation for TA
make TriBot
modify program
PC
Read Thesis
Modify whoRoom
Check tools
Okawa
calc gravity for FT sensor
力覚センサを用いた質量の測定
HOAP-2の上半身の質量の計算と比較
回転行列の確認
力覚センサの位置と姿勢の計算
力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
モーメントに対しての重力補償
Read Thesis
Dynamic Walk
HOAP-2 Repository
”ヒューマノイド ロボット”
Dynamic Walk
Aoki
OpenHRP
Enable to use OpenHRP
Install OpenHRP
Make easy model on GrxUI
Make simulation with sample model and controller
Make controller
Make HOAP-2 Model in OpenHRP3
Read
"ヒューマノイドロボット"
Compile references about dynamic walk
Ogasawara
Read Thesis
Read Sato's dissertation
Vision
Kinect
Check the function
Compare Kinect and Stereo Camera
PCL
Stereo Camera
Improve programs about detecting dirty on the white board
Others
Muramatsu
Sysytem Integration
Singularity
Environmental condition
Program
Workspace
Check the range of workspace
Read thesis
"ヒューマノイドロボット"
"ヒューマノイドロボット"5章中の参考文献のまとめ
佐藤先輩の修士論文
Motion Planningの参考文献
参考文献の検索
Theory
HOAP-2の運動制御の理解