IROS 2019 - HEBI Hands-On Tutorial (Proposed)
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While robotics research is a quickly evolving and growing field, the act of building and working with a physical robot remains an expensive, slow, and difficult experience. Because of this, many researchers never get a chance to learn the basics of robotic actuation, and many others who do learn the basics never get to develop deep hands-on expertise. This tutorial provides an opportunity for researchers to implement the fundamentals of robotic actuation using commercially-available series elastic actuators from HEBI Robotics. These actuators and supporting software tools are already in use at over 100 companies and research labs around the world, and they are being used to dramatically accelerate the pace of robotics research in fields as varied as industrial automation, service robotics, personal assistance robotics, prosthetics, rehabilitation, agriculture and space exploration.
This tutorial will provide a technical overview of compliant actuation and control, and it will also provide hands-on access to a variety of example robotic systems. Attendees will have the opportunity to assemble, play with, take apart, and build upon these examples. Robotics experts from HEBI will be on hand to work with attendees, and speakers from around the world will also present their experiences using these systems.
Come ready to test out your ideas with our tools!
09:00 - 09:20 Introduction and Overview
09:20 - 09:45 Demonstrations Round-Robin
Compliant Manipulators for
Pick and Place Tasks
Force-Controlled Assistance for Rehabilitation / Exoskeleton
Compliant Legged Robot
09:45 - 10:15 Basics of actuation and control
Position / Velocity / Force Control
Series Elastic Actuation
10:15 - 10:30 Coffee Break/Discussion
10:30 - 11:30 Introduction to HEBI ROS API
Broad overview of HEBI APIs
Commands / Feedback
Logging / Visualization
Controller Tuning / Gains
Trajectories / Dynamics
Using the HEBI APIs with ROS
Direct interface to ROS
Calling the HEBI C++ / python API in your node
11:30 - 12:00 Live demos - Q&A and Play with Robots!