AIRWiki - User contributions [en]

Simulation of a 6 DOF Manipulator

2009-09-16T22:11:40Z

PietroCastelli: /* Dates */

=== Project name ===
Simulation of a 6 degrees of freedom manipulator

[[Image:PietroCastelli-pumaArm.jpg|thumb|right|136px|The Puma 560 manipulator]]

=== Project short description ===
The goal of this project is to develop a simulator for a 6-DOF robot manipulator, using Open Dynamics Engine library (ODE) for simulating the rigid body dynamics and OpenGL 3D Graphic for visualization. The project involves three different phases:

*Building a physical model of the Unimate Puma 560 manipulator using ODE primitives for articulated rigid bodies
*Choosing and implementing forward and inverse kinematic routines for the previously developed robot model
*Choosing and implementing control modules and trajectory planning routines

The simulator will be provided with a custom designed user interface (based on Trolltech's QT platform) allowing the user to control the robot both in the cartesian and in the joint space.

=== Dates ===
Start date: 2009/02/27

End date: 2010/02/22 (expected)

==== Project head(s) ====
[[User:MarcelloRestelli | Marcello Restelli]]

==== Students currently working on the project ====
[[User:PietroCastelli | Pietro Castelli]]

=== Useful internet links ===
[http://www.ode.org/ Open Dinamycs engine], [http://qt.nokia.com/products/ QT Platform], [http://www.libqglviewer.com/ QGLViewer Library],
[http://www.opengl.org/ OpenGL], [http://www.boost.org/ Boost C++ Library]

=== Images ===
[[Image:PietroCastelli-gui.jpg|thumb|center|400px|Almost finished user interface]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. Potential risks are only related to the use of PCs.
*Standard safety measures are described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110 Safety meseaures]

Simulation of a 6 DOF Manipulator

2009-09-16T22:10:38Z

PietroCastelli: /* Project name */

=== Project name ===
Simulation of a 6 degrees of freedom manipulator

[[Image:PietroCastelli-pumaArm.jpg|thumb|right|136px|The Puma 560 manipulator]]

=== Project short description ===
The goal of this project is to develop a simulator for a 6-DOF robot manipulator, using Open Dynamics Engine library (ODE) for simulating the rigid body dynamics and OpenGL 3D Graphic for visualization. The project involves three different phases:

*Building a physical model of the Unimate Puma 560 manipulator using ODE primitives for articulated rigid bodies
*Choosing and implementing forward and inverse kinematic routines for the previously developed robot model
*Choosing and implementing control modules and trajectory planning routines

The simulator will be provided with a custom designed user interface (based on Trolltech's QT platform) allowing the user to control the robot both in the cartesian and in the joint space.

=== Dates ===
Start date: 2009/02/27

End date: 2010/02/22

==== Project head(s) ====
[[User:MarcelloRestelli | Marcello Restelli]]

==== Students currently working on the project ====
[[User:PietroCastelli | Pietro Castelli]]

=== Useful internet links ===
[http://www.ode.org/ Open Dinamycs engine], [http://qt.nokia.com/products/ QT Platform], [http://www.libqglviewer.com/ QGLViewer Library],
[http://www.opengl.org/ OpenGL], [http://www.boost.org/ Boost C++ Library]

=== Images ===
[[Image:PietroCastelli-gui.jpg|thumb|center|400px|Almost finished user interface]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. Potential risks are only related to the use of PCs.
*Standard safety measures are described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110 Safety meseaures]

Simulation of a 6 DOF Manipulator

2009-09-16T22:08:44Z

PietroCastelli: /* Project short description */

=== Project name ===
Simulation of a 6 Degrees of freedom manipulator

[[Image:PietroCastelli-pumaArm.jpg|thumb|right|136px|The Puma 560 manipulator]]
=== Project short description ===
The goal of this project is to develop a simulator for a 6-DOF robot manipulator, using Open Dynamics Engine library (ODE) for simulating the rigid body dynamics and OpenGL 3D Graphic for visualization. The project involves three different phases:

*Building a physical model of the Unimate Puma 560 manipulator using ODE primitives for articulated rigid bodies
*Choosing and implementing forward and inverse kinematic routines for the previously developed robot model
*Choosing and implementing control modules and trajectory planning routines

The simulator will be provided with a custom designed user interface (based on Trolltech's QT platform) allowing the user to control the robot both in the cartesian and in the joint space.

=== Dates ===
Start date: 2009/02/27

End date: 2010/02/22

==== Project head(s) ====
[[User:MarcelloRestelli | Marcello Restelli]]

==== Students currently working on the project ====
[[User:PietroCastelli | Pietro Castelli]]

=== Useful internet links ===
[http://www.ode.org/ Open Dinamycs engine], [http://qt.nokia.com/products/ QT Platform], [http://www.libqglviewer.com/ QGLViewer Library],
[http://www.opengl.org/ OpenGL], [http://www.boost.org/ Boost C++ Library]

=== Images ===
[[Image:PietroCastelli-gui.jpg|thumb|center|400px|Almost finished user interface]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. Potential risks are only related to the use of PCs.
*Standard safety measures are described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110 Safety meseaures]

Simulation of a 6 DOF Manipulator

2009-09-16T21:19:20Z

PietroCastelli:

=== Project name ===
Simulation of a 6 Degrees of freedom manipulator

[[Image:PietroCastelli-pumaArm.jpg|thumb|right|136px|The Puma 560 manipulator]]
=== Project short description ===
The goal of this project is to develop a simulator for a 6-DOF robot manipulator, using Open Dynamics Engine library (ODE) for simulating the rigid body dynamics and OpenGL 3D Graphic for visualization. The project involves three different phases:

*Building a physical model of the Unimate Puma 560 manipulator using ODE primitives for articulated rigid bodies
*Choosing and implementing forward and inverse kinematic routines for the previously developed robot model
*Choosing and mplementing control modules and trajectory planning routines

The simulator will be provided with a custom designed user interface (based on Trolltech's QT platform) allowing the user to control the robot both in the cartesian and in the joint space.

=== Dates ===
Start date: 2009/02/27

End date: 2010/02/22

==== Project head(s) ====
[[User:MarcelloRestelli | Marcello Restelli]]

==== Students currently working on the project ====
[[User:PietroCastelli | Pietro Castelli]]

=== Useful internet links ===
[http://www.ode.org/ Open Dinamycs engine], [http://qt.nokia.com/products/ QT Platform], [http://www.libqglviewer.com/ QGLViewer Library],
[http://www.opengl.org/ OpenGL], [http://www.boost.org/ Boost C++ Library]

=== Images ===
[[Image:PietroCastelli-gui.jpg|thumb|center|400px|Almost finished user interface]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. Potential risks are only related to the use of PCs.
*Standard safety measures are described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110 Safety meseaures]

File:PietroCastelli-gui.jpg

2009-09-16T21:13:26Z

PietroCastelli:

User:PietroCastelli

2009-09-16T21:05:08Z

PietroCastelli:

{{SMWUser
|category=Student
|firstname=Pietro
|lastname=Castelli
|email=pietro.castelli(at)gmail(dot)com
|advisor=MarcelloRestelli
|projectpage=Simulation of a 6 DOF Manipulator
|photo=PietroCastelli-foto.jpg|200px|thumb|center
}}

User:PietroCastelli

2009-09-16T21:03:38Z

PietroCastelli:

{{SMWUser
|category=Student
|firstname=Pietro
|lastname=Castelli
|email=pietro.castelli(at)gmail(dot)com
|advisor=MarcelloRestelli
|projectpage=http://airwiki.elet.polimi.it/mediawiki/index.php/Simulation_of_a_6_DOF_Manipulator
|photo=PietroCastelli-foto.jpg|200px|thumb|center
}}

Simulation of a 6 DOF Manipulator

2009-09-16T21:03:01Z

PietroCastelli: New page: === Project name === Simulation of a 6 Degrees of freedom manipulator The Puma 560 manipulator === Project short description === The...

=== Project name ===
Simulation of a 6 Degrees of freedom manipulator

[[Image:PietroCastelli-pumaArm.jpg|thumb|right|136px|The Puma 560 manipulator]]
=== Project short description ===
The goal of this project is to develop a simulator for a 6-DOF robot manipulator, using Open Dynamics Engine library (ODE) for simulating the rigid body dynamics and OpenGL 3D Graphic for visualization. The project involves three different phases:

*Building a physical model of the Unimate Puma 560 manipulator using ODE primitives for articulated rigid bodies
*Choosing and implementing forward and inverse kinematic routines for the previously developed robot model
*Choosing and mplementing control modules and trajectory planning routines

The simulator will be provided with a custom designed user interface (based on Trolltech's QT platform) allowing the user to control the robot both in the cartesian and in the joint space.

=== Dates ===
Start date: 2009/02/27

End date: 2010/02/22

==== Project head(s) ====

[[User:MarcelloRestelli | Marcello Restelli]]

==== Students currently working on the project ====

[[User:PietroCastelli | Pietro Castelli]]

=== Useful internet links ===
[http://www.ode.org/ Open Dinamycs engine], [http://qt.nokia.com/products/ QT Platform], [http://www.libqglviewer.com/ QGLViewer Library],
[http://www.opengl.org/ OpenGL], [http://www.boost.org/ Boost C++ Library]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. Potential risks are only related to the use of PCs.
*Standard safety measures are described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110]

File:PietroCastelli-pumaArm.jpg

2009-09-16T20:45:08Z

PietroCastelli:

Projects

2009-09-16T19:36:37Z

PietroCastelli: /* Robot development */

''This page is a repository of links to the pages describing the '''projects''' we are currently working on at AIRLab.
See the list of our finished projects on the [[Finished Projects]] page.''

== Ongoing projects ==
''by research area (areas are defined in the [[Main Page]]); for each project a name and a link to its AIRWiki page is given''

=== [[Agents, Multiagent Systems, Agencies]] ===
----
* [[Evolutionary game theory for biology| Evolutionary game theory for biology]]
* [[Game theoretic analysis of electric power| Game theoretic analysis of electric power market]]
* [[Algorithms for computing equilibria| Algorithms for computing equilibria]]
* [[Multiagent cooperation|Multiagent cooperating system]]
* [[Planning in Ambient Intelligence scenarios| Planning in Ambient Intelligence scenarios]]
* [[Strategic robot patrolling| Strategic robot patrolling]]
* [[Real-Time Strategy Games| Real-Time Strategy Games]]

=== [[BioSignal Analysis]] ===
----
===== [[Affective Computing]] =====
* [[Relatioship between Cognition and Emotion in Rehabilitation Robotics]]
* [[Driving companions]]
* [[Emotion from Interaction]]
* [[Wireless Affective Devices]]
* [[Affective Robot force sensor]]
* [[Affective VideoGames]]

===== [[Brain-Computer Interface]] =====
* [[BCI based on Motor Imagery]]
** [[Predictive BCI Speller based on Motor Imagery]] (Master thesis, Tiziano D'Albis)
** [[Feature Selection and Extraction for a BCI based on motor imagery]] (Master thesis, Francesco Amenta)
** [[Ocular Artifacts Filter implementation for a BCI based on motor imagery]] (First Level thesis, Fabio Beltramini)
** [[Online automatic tuning of the number of repetitions in a P300-based BCI]] (First Level thesis, Siegfried Cattaneo)
* [[Graphical user interface for an autonomous wheelchair]] (First Level thesis, Antonio Tripodi and Eleonora Ciceri)
* [[Mu and beta rhythm-based BCI]]
* [[Reproduction of an algorithm for the recognition of error potentials]]

===== [[Automatic Detection Of Sleep Stages]] =====
* [[Sleep Staging with HMM]]

===== [[Analysis of the Olfactory Signal]] =====
* [[Lung Cancer Detection by an Electronic Nose]]
* [[HE-KNOWS - An electronic nose]]

===== [[Classification of EMG signals]] =====

=== [[Computer Vision and Image Analysis]] ===
----
* [[Automated extraction of laser streaks and range profiles]]
* [[Data collection for mutual calibration|Data collection for laser-rangefinder and camera calibration]]
* [[Image retargeting by k-seam removal]]
* [[Particle filter for object tracking]]
* [[Template based paper like reconstruction when the edges are straight]]
* [[Wii Remote headtracking and active projector]]
* [[Vision module for the Milan Robocup Team]]
* [[Long Exposure Images for Resource-constrained video surveillance]]
* [[NonPhotorealistic rendering of speed lines]].
* [[Restoration of blurred objects using cues from the alpha matte]]
* [[Analyzing Traffic Speed From a Single Night Image - Light Streaks Detection]]
* [[Plate detection algorithm]]
* [[A vision-based 3D input device for space curves]]
* [[Correlation-based 3D reconstruction with pan/tilt stereo-camera]]
* [[Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping]]
* [[Image resize by solving a sparse linear system]]
* [[Monocular Simultaneous Localization And Mapping with Moving Object Tracking using Conditional Independent submaps]]
* [[Robust data association for high-speed SLAM]]

=== [[Machine Learning]] ===
----
* [[Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games|Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games]]
* [[B-Smart Behaviour Sequence Modeler and Recognition tool|B-Smart Behaviour Sequence Modeler and Recognition tool]]
* [[Player modeling in TORCS exploiting SVMs and GPUs parallelism|Player modeling in TORCS exploiting SVMs and GPUs parallelism]]
* [[Development an Artificial Intelligence System solving the MS Pac-Man videogame |Development an Artificial Intelligence System solving the MS Pac-Man videogame ]]
* [[Parameters optimization in TORCS exploiting genetic algorithms]]
* [[Neuroevolution in TORCS for evolving interesting and adaptive behaviors]]
* [[Giskar - Distance estimation through single camera features applied to Neural Networks]]

=== [[Evolutionary Computation]] ===
----

* [[Evoptool: Evolutive Optimization Tool]]

=== [[Philosophy of Artificial Intelligence]] ===
----

=== [[Robotics]] ===
----

==== [[Robot development]] ====
* [[Robot fiera]]
* [[LURCH - The autonomous wheelchair]]
* [[Balancing robots: Tilty, TiltOne]]
* [[Robotizing a Golf Cart ]]
* [[ Development of a neck for umanoid robot ]]
* [[Development of robot Maximum One - control and programming ]]
* [[Milan Robocup Team Robot development ]]
* [[Modular Robotic Toolkit ]]
* [[Indoor localization system based on a gyro and visual passive markers]]
* [[Integrazione Tesi De Ambrogi]]
* [[Simulation of a 6 DOF Manipulator]]

==== [[Benchmarking]] ====
* [[Rawseeds|RAWSEEDS]]

==== [[Bio Robotics]] ====
* [[PoliManus]]
* [[ZOIDBERG - An autonomous bio-inspired RoboFish]]
* [[Styx The 6 Whegs Robot]]
* [[PolyGlove: a body-based haptic interface]]
* [[ULISSE]]
* [[PEKeB: a PiezoElectric KeyBoard]]
* [[Anthropomorphic Robotic Wrist]]
* [[High-level architecture for the control of humanoid robot]]
* [[Zoidberg II, powering robot fish]]
* [[EMG, new test]]
* [[CPG for Warugadar]]

==== [[Robogames]] ====
* [[ROBOWII]]
* [[RobogameDesign]]

=== [[Social Software and Semantic Web]] ===
----
===== [[Social Network Analysis| Extracting Knowledge From Social Networks]] =====

{{#ask: [[Category:Project]][[prjResTopic::Social Network Analysis]][[prjStatus::Active]]|?prjTitle = |format=ul}}

===== [[Semantic Tagging]] =====

{{#ask: [[Category:Project]][[prjResTopic::Semantic Tagging]][[prjStatus::Active]]|?prjTitle = |format=ul}}

===== [[Semantic Search]] =====

{{#ask: [[Category:Project]][[prjResTopic::Semantic Search]][[prjStatus::Active]]|?prjTitle = |format=ul}}



== Past projects ==

=== [[BioSignal Analysis]] ===

===== [[Affective Computing]] =====

{{#ask: [[Category:Project]][[prjResTopic::Affective Computing]] [[PrjEnd::<{{CURRENTYEAR}}/{{CURRENTMONTH}}/{{CURRENTDAY}}]]|format=ul}}

===== [[Brain-Computer Interface]] =====
* [[Online P300 and ErrP recognition with BCI2000]]

== April Fool's projects ==

Following the [http://en.wikipedia.org/wiki/April_Fools%27_Day_RFC RFC] tradition,
[[April_1st_Projects|here]] is our April Fool's project page.

== Note for students ==

If you are a student and there isn't a '''page describing your project''', this is because YOU have the task of creating it and populating it with (meaningful) content. If you are a student and there IS a page describing your project, you have the task to complete that page with (useful and comprehensive) information about your own contribution to the project. Be aware that the quality of your work (or lack of it) on the AIRWiki will be evaluated by the Teachers and will influence your grades.

Instructions to add a new project or to add content to an existing project page are available at [[Projects - HOWTO]].

User:PietroCastelli

2009-09-16T19:16:54Z

PietroCastelli:

{{SMWUser
|category=Student
|firstname=Pietro
|lastname=Castelli
|email=pietro.castelli(at)gmail(dot)com
|advisor=MarcelloRestelli
|projectpage=
|photo=PietroCastelli-foto.jpg|200px|thumb|center
}}

User:PietroCastelli

2009-09-16T19:16:23Z

PietroCastelli: New page: {{SMWUser |category=Student |firstname=Pietro |lastname=Castelli |email=pietro.castelli(at)gmail(dot)com |advisor=MarcelloRestelli |projectpage=Simulation of a 6-DOF Manipulator |photo=Pie...

{{SMWUser
|category=Student
|firstname=Pietro
|lastname=Castelli
|email=pietro.castelli(at)gmail(dot)com
|advisor=MarcelloRestelli
|projectpage=Simulation of a 6-DOF Manipulator
|photo=PietroCastelli-foto.jpg|200px|thumb|center
}}

File:PietroCastelli-foto.jpg

2009-09-16T19:14:03Z

PietroCastelli: