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drexel_darwin_door_open [2016/11/01 15:35] – created dwallacedrexel_darwin_door_open [2016/11/07 17:16] (current) dwallace
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 The following video shows different types of doors modeled on the DRC-Simulator, There are 3 types of doors here :  The following video shows different types of doors modeled on the DRC-Simulator, There are 3 types of doors here : 
-* Doors that open inwards +  * Doors that open inwards 
-* Doors that open outwards +  * Doors that open outwards 
-* Double doors+  * Double doors
 Each door has two types of mechanisms i.e. simple doors without friction and doors that close by themselves.  Each door has two types of mechanisms i.e. simple doors without friction and doors that close by themselves. 
  
-{{#ev:youtube|txiKSJPMFTQ}} +{{youtube>txiKSJPMFTQ?large}}\\ 
  
 ---- ----
  
-== Summary of 5 Papers == +===== Summary of 5 Papers =====
- +
-1) Autonomous Door Opening and Plugging In with a Personal Robot +
-[[http://dasl.mem.drexel.edu/wiki/images/9/9f/Autonomous_Door_Opening_and_Plugging_In_with_a_Personal_Robot.pdf]]+
  
-2) CHOMP  Gradient optimization Technique for Efficient motion Planning + 1) Autonomous Door Opening and Plugging In with a Personal Robot 
-[[http://dasl.mem.drexel.edu/wiki/images/9/9f/CHOMP_Gradient_optimization_Technique_for_Efficient_motion_Planning.pdf]]+ [[http://dasl.mem.drexel.edu/wiki/images/9/9f/Autonomous_Door_Opening_and_Plugging_In_with_a_Personal_Robot.pdf]]
  
-3Manipulation Planning with Goal Sets using Constrained Trajectory Optimization + 2CHOMP  Gradient optimization Technique for Efficient motion Planning 
-[[http://dasl.mem.drexel.edu/wiki/images/c/c0/Manipulation_Planning_with_Goal_Sets_using_Constrained_Trajectory_Optimization.pdf]]]+ [[http://dasl.mem.drexel.edu/wiki/images/9/9f/CHOMP_Gradient_optimization_Technique_for_Efficient_motion_Planning.pdf]]
  
-4Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces + 3Manipulation Planning with Goal Sets using Constrained Trajectory Optimization 
-[[http://dasl.mem.drexel.edu/wiki/images/8/84/Probabilistic_Roadmaps_for_Path_Planning_in_High-Dimensional_Configuration_Spaces.pdf]]+ [[http://dasl.mem.drexel.edu/wiki/images/c/c0/Manipulation_Planning_with_Goal_Sets_using_Constrained_Trajectory_Optimization.pdf]]]
  
-5Whole-body motion of a Humanoid robot for passing through a door + 4Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces 
-[[http://dasl.mem.drexel.edu/wiki/images/3/37/Whole-body_motion_of_a_Humanoid_robot_for_passing_through_a_door.pdf]]+ [[http://dasl.mem.drexel.edu/wiki/images/8/84/Probabilistic_Roadmaps_for_Path_Planning_in_High-Dimensional_Configuration_Spaces.pdf]]
  
 + 5) Whole-body motion of a Humanoid robot for passing through a door
 + [[http://dasl.mem.drexel.edu/wiki/images/3/37/Whole-body_motion_of_a_Humanoid_robot_for_passing_through_a_door.pdf]]
  
  
-Summary of Continuous Trajectory Optimization for Autonomous Humanoid Door Opening[[http://dasl.mem.drexel.edu/wiki/images/d/d4/Door_Opening.pdf]]+ Summary of Continuous Trajectory Optimization for Autonomous Humanoid Door Opening 
 + [[http://dasl.mem.drexel.edu/wiki/images/d/d4/Door_Opening.pdf]]
  
 ---- ----
  
-== Simulations of Darwin-OP opening a Door and walking through ==+===== Simulations of Darwin-OP Opening a Door and Walking Through =====
  
-''' 1) [[Opening single Door outward and walking through]]'''+ **1) [[drexel_darwin_single_door_outward_sim|Opening single Door outward and walking through]]**
  
  
-''' 2) [[Opening Double Door Outward and walking through]]'''+ **2) [[drexel_darwin_double_door_sim|Opening Double Door Outward and walking through]]**
  
  
-''' 2) [[Opening Single Door Inward and walking through]]'''+ **3) [[drexel_darwin_single_door_inward_sim|Opening Single Door Inward and walking through]]**
  
-== Demonstration of the Door-opening Task on the Darwin-Op robot ==+===== Demonstration of the Door-opening Task on the Darwin-Op robot =====
  
-''' [[Preparing the Hardware]] '''+ **[[drexel_darwin_hardware|Preparing the Hardware]]**
  
-''' 1) [[Opening single Door outward]] '''+ **1) [[drexel_darwin_single_door_outward_real|Opening single Door outward]]**
  
  
-''' 2) [[Opening single Door inward]] '''+ **2) [[drexel_darwin_single_door_inward_real|Opening single Door inward]]**
  
  
-''' 3) [[Opening double Door outward]] '''+ **3) [[drexel_darwin_double_door_real|Opening double Door outward]]**
drexel_darwin_door_open.txt · Last modified: 2016/11/07 17:16 by dwallace