University of Hamburg

Robot-Era

Kinova Jaco and MoveIt!

The Robot-Era Domestic Robot:Kinova Jaco and MoveIt!

MoveIt! tutorial, ICRA-2013

Norman Hendrich, Johannes Liebrecht, Jianwei Zhang

University of HamburgMIN Faculty, Dept. of Informatics

Vogt-Kolln-Str. 30, D-22527 Hamburghendrich@informatik.uni-hamburg.de

10/May/2013

N.Hendrich 1

University of Hamburg

Robot-Era

Kinova Jaco and MoveIt!

Robot-Era: Service Robots for Elderly Care

I three robots: outdoor, condominium, domestic

I PEIS ambient sensor network, tablet + speech HRI

I EU-FP7 project, 12 partners, 48 months

I ROS for robot-control, manipulation, simulation

N.Hendrich 2

University of Hamburg

Robot-Era

Kinova Jaco and MoveIt!

Domestic Robot: manipulation services

I differential-drive platform, sensor-headI one Kinova Jaco arm with gripperI prototypes about 70K EUR

N.Hendrich 3

University of Hamburg

Robot-Era

Kinova Jaco and MoveIt!

self_filter

controller_manager

simple_arms

Orocos

sensor_msgs

trajectory_smoother

rospy

roscpproscore

ROS

MIRA-ROS OMPLOpenCVPCL

CleanTableService

CameraImageServiceMoveToService

GraspObjectService

HRI

doro-GUI

SCITOS

PEIS

OpenNI gstreamer Kinova.DLL

. . .

rviz

CenterMIRA-

MIRA / CogniDrive

CamerasKinectlaser-scanners Jaco

MoveIt!

N.Hendrich 4

University of Hamburg

Robot-Era

Kinova Jaco and MoveIt!

Doro manipulator: Jaco arm

designed by Kinova Canada:

I rehabilitation + wheelchair use

I very good joystick control

I useful 3-finger gripper

I slow but safe (no brakes!)

I payload 1.5 kg, total weight 5 kg

I 6-DOF, 1 m reach

I unusual kinematics

I Windows .NET software

I basic ROS node, but no robust IK

N.Hendrich 5

University of Hamburg

Robot-Era

Kinova Jaco and MoveIt!

MoveIt! standalone Jaco arm

N.Hendrich 6

University of Hamburg

Robot-Era

Kinova Jaco and MoveIt!

MoveIt! works out of the box

N.Hendrich 7

University of Hamburg

Robot-Era

Kinova Jaco and MoveIt!

MoveIt! status and future work

I setup is really easy, assistant works fine

I trajectory planning and generation works

I trajectory replay on Jaco works

I missing Kinova IK not a problem anymore

I self-collision model not perfect

I OMPL/RRT fast enough

I mixing Fuerte (Gazebo) and Groovy (MoveIt) ok

I working on the gripper now

N.Hendrich 8

University of Hamburg

Robot-Era

Kinova Jaco and MoveIt!

Discussion

I Thanks for your attention!I Questions?

I www.robot-era.eu/I hendrich@informatik.uni-hamburg.de

I ROS incredibly useful

I MoveIt! very promising

I Acknowledgments: funding by project Robot-Era, FP7-288999

N.Hendrich 9