This project is read-only.

Microsoft Robotics

Prereqs

Common

  • Numerics (matrix library, Kalman filter, quaternions/vectors/..., geometry, ...)
  • Algorithms (graph optimization, PID controller, ...)
  • Finite State Machine framework
  • Kinematics (6-/7-DOF IK solver, kinematic chain, collision checking, ...)
  • Serialization library
  • Tracking library
  • Runtime (agent framework, visualization, ...)

Navigation

  • Kinect calibration, floor extraction, horizontal depth profile, ...
  • SLAM (map generation, loop closure detection, graph optimization, particle filter based localization)
  • Path planning and tracking
  • Benchmarking (pose estimation, metrics system, ...)

Manipulation

  • Collision-free motion planning (CHOMP implementation)
  • Joint controller
  • Cubic spline interpolation
  • Velocity controller joint positions
  • Cartesian controller

Last edited Dec 3, 2014 at 8:45 PM by MonkeyGuru, version 3