DRCsim Atlas robot inverse kinematics

asked 2013-04-22 10:32:46 -0500

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Dear all,

I am developing a simple application using DRCsim 2.3 (DARPA Robotics Challenge Simulator) and Gazebo 1.6 .

By now, in a simple application, I am trying to control only the robotic arms of ATLAS. I want to place the robotic arms end links (lhand and rhand) in specific given poses of the workspace.

How can I do that using DRCsim and Gazebo + ROS? I have read some suggestions related to the determination of inverse kinematics in other applications (PR2, etc) that have used the package http://www.ros.org/wiki/arm_kinematics

Should I follow the same approach for Atlas robot? Or DRCsim integrates better (performance, accuracy) nativeinterfaces to control the ATLAS robot in Cartesian space? What are them?

Thanks for your attention and answers

Regards, Ricardo

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Hi, were able to get the arm_kinematics package working for the finding the inverse kinematics of the Atlas arm??? I've been trying to do it myself for about a week now but without any luck?? If you were able to get it working could you please give me the steps on how you approached it. I am using ROS fuerte, Gazebo 1.8.2 for this.

Prashant ( 2013-06-08 13:44:27 -0500 )edit

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answered 2013-07-02 13:48:35 -0500

Francisco
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Maybe late for some people but the solution We used for the VRC Qualifications can be found in this repository: https://bitbucket.org/fsuarez6/atlas-arm-manipulation

arm_kinematics_tools (wiki) is the package used for solving the kinematics.

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Thanks. Best regards, Ricardo Martins

RFAM ( 2013-07-03 10:09:20 -0500 )edit

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answered 2013-04-23 12:56:03 -0500

dcconner
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drcsim only provides for joint control via JointCommands or AtlasCommands topics
(note:current 2.5 requires changing out of BDI stand mode as described in latest tutorials; 2.3 starts in joint position control mode).

You will need to use some sort of IK to map Cartesian pose to desired joint positions. The ROS arm_kinematics is a reasonable place to start.

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Thanks for the help RM

RFAM ( 2013-04-23 17:23:21 -0500 )edit

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answered 2013-04-24 05:49:31 -0500

Sudip_Gupta
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I can suggest you one more way of doing it: 1) Create a publisher in Python which publishes forces to the joints. Joint tutorial using Python can helo you with that. 2) Call another code objects which modifies the joint forces and returns it to the publishing method. 3) Create a class and method for implementing IK using DH matrices. There are many IK implementations available online and those can be called from this interface class as well.

Considering the less amount of time left for DRC, the choice is yours. :)

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Thanks for the help ;)

RFAM ( 2013-04-24 11:24:55 -0500 )edit

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DRCsim Atlas robot inverse kinematics

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