Running Projects

ICARO – ANR Project – since 2010

ICAROANR Project – since 2010

The ASSIST project aims at creating an autonomous mobile manipulator robot dedicated to the assistance of persons with reduced mobility as for instance paraplegic people. ASSIST robot is made of a mobile platform supporting a two arm manipulator developped by CEA and a vision device (Kinect). The robot has to be able to take simple objects in the environment and bring them to the patient’s near space, while avoiding any risk for the patient (e.g. collision).

My role :

  • Development of the real-time control software platform supporting development and integration on PC side.
  • Integration of project’s partners development (for instance the algorithms to detect intention of the patient).
  • Design of the embedded hardware architecture (LAN of micro-controllers) and development of the embedded software for the two arm manipulator ; communication protocol between embedded architecture and PC.

Platforms, devices and tools : KUKA Fri/KUKA LWR, RTAI, C/C++, OpenNI/Kinect, micro-controller programming

                                

ASSIST – ANR Project – since 2009

The ASSIST project aims at creating an autonomous mobile manipulator robot dedicated to the assistance of persons with reduced mobility as for instance paraplegic people. ASSIST robot is made of a mobile platform supporting a two arm manipulator developped by CEA and a vision device (Kinect). The robot has to be able to take simple objects in the environment and bring them to the patient’s near space, while avoiding any risk for the patient (e.g. collision).

My role :

  • Development of the real-time control software platform supporting development and integration on PC side.
  • Integration of project’s partners development (for instance the algorithms to detect intention of the patient).
  • Design of the embedded hardware architecture (LAN of micro-controllers) and development of the embedded software for the two arm manipulator ; communication protocol between embedded architecture and PC.

Platforms, devices and tools : KUKA Fri/KUKA LWR, RTAI, C/C++, OpenNI/Kinect, micro-controller programming

Dernière mise à jour le 03/06/2014