Robotics 2017: ABB-STAR

A project of the Robotics 2017 class of the School of Information Science and Technology (SIST) of ShanghaiTech University.
Course Instructor: Prof. Sören Schwertfeger.

Yuyang RongXiaoling LongJianxiong Cai and Yunzhe Yuan

Project Description

The goal of this project is to combine UGV (Unarmed Ground Vehicle) with arm manipulator to perform complex tasks, like moving to press the button. In this case, we mounted ABB Yumi dual-arm robot onto ClearPath Husky Robot. Currently the robot is capable of doing following things:

  • build a map from the environment
  • correctly localize itself in the map
  • autonomously navigate to the target position
  • press the button with the arm manipulator

As is shown in the demo below, some state-of-art SLAM-related algorithm and packages, like gmapping and AMCL, are used in this project.