A Shared Control Method for Collaborative Human-Robot Plug Task (RAL+IROS 2021)

Paper link

Video link

System overview:

System requirement:

ROS Kinectic

Opencv

PCL

Darknet_ros

iai_kinect2

realsense-ros

Kinova ros_kortex package

Hardware requirement:

Kinova gen3 arm

Realsense

Kinect

AprilTag

Socket

Cable with a plug

Introduction:

/apriltags_ros folder includes how we use the apriltag to detect the socket

/hri_plug_task folder includes all the launch file, source codes for the plug task with human-robot interaction

/kalman_filter folder includes how we implement the Kalman filter to track the moving socket

Commands

--launch robot and cameras

roslaunch hri_plug_task HRI_plug_task_gen3.launch

--launch apriltag

roslaunch apriltags_ros HRI_plug_task_gen3.launch

--run kalman filter

rosrun kalman_filter kalman_node

--cable modeling

rosrun hri_plug_task HRI_modeling_cable_gen3_kf

--task automation with human-in-the-loop

rosrun hri_plug_task HRI_plug_task_gen3_kf __ns:=my_gen3

Copyright:

This work was developed at the RIVeR Lab, Northeastern University