Welcome

Welcome - Key information for new lab members and robot users.

Lab Robots

• Schunk LWA3
• Schunk LWA4
• Schunk SDH
• Schunk PG-70 gripper
• Golem Krang
• Rovio

General Scientific Resources

• Online Lectures
• Using GT Web Localizer: How to use GT's tools to access publications.
• Robotics Publications: important conferences and journals for robotics and related fields
• Planning: How robots make decisions
• Computer Vision: How robots perceive their world
• Control Theory
• Robot Mechanics
• Dynamic Walking: A history with references on dynamic walking for humanoids.
• DC Motor Model
• Math Symbols

Lab Code

• Development
• Communication Architecture
• Communication Architecture Usage
• make-common: includeable makefile to simplify building
• amino: some basic utilities
• ach: publish-subscribe IPC
• somatic: mesage definitions and utilities
• reflex: controllers and simple trajectories
• pcio: interface to schunk powercubes
• trajctrl: trajectories (mostly for arms)
• esdcan: canopen and shell tool using esd's NTCAN API
• endconv: header file of inline functions that perform big/little endian conversions
• schunk-kinematics: a library for all schunk related kinematic calculations

Daemons:
• amcd: a daemon for the AMC motor drivers (i/o)
• pciod: ach-daemon for power-cube (i/o)
• sdhiod: ach-daemon for schunk dexterous hand (i/o)
• dsad: ach-daemon for sdh touch sensors (o)
• jachd: a daemon for joystick input devices, including spacenav (o)
• hokuyod: a daemon for the laser rangefinder (o)
• imud: a daemon for the inertial measurement unit (o)
• bmsd: a daemon for watching over the batter management system (w)

Software Resources

• Controlling the Arm(s)
• Controlling the Hand(s)
• General Computing
• Dynamics, Simulation
• Mathematics, Optimization
• CAD
• OpenCV
• Communication Architecture

Writing Good Papers

• Using LaTeX
• LaTeX on Windows
• Adding Nice Pictures
• Writing Resources

Hardware Suppliers

• Electronics
• Mechanics
• Computers
• Power / Batteries
• Actuators
• Sensors
• Input Devices

Tech Tips

• ccache
• SSL
• CAN
• Rotation Representations
• Desktop Video Recording
• Video Encoding
• Shunk LWA-3 Arm Installation
• Using Windows PowerCube test software
• Linux Serial Console
• Electrical Connectors
• AMC Servo Drives
• Fortran
• Unix Tips
• Virtualization
• X11 Troubleshooting
• Emacs
• Robust C
• CPP Libraries
• Webcams

Administrative

• Networking
• Printing
• Tasks
• Keys
• Plans
• Presentation Order
• Shopping List
• Purchases
• Gradministrivia
• Travel Funding
• Humanoids SVN Permissions

Internal

Library

• Library - When you take books out of the lab, check them in and out here.

Discussion

• Humanoids Mailing List Archive
• Lab Discussions (Retired)

Projects

• Golem Krang (Patent Pending)
• Dynamic Chess - Strategic Planning for Robot Motion
• The Motion Grammar
• SPLinTER
• Dynamic Planning
• Mixed Palletizing
• HGR Gumstix Walking
• Kai - Humanoid Walking
• Bioloid Gumstix Walking
• Hand Control and Force Closure
• Dexterous Object Exploration
• Sparky

Help

• Help