Make sure to check out these videos below. For further insight, check out the report in the repository.
https://www.youtube.com/watch?v=u-8IV7ruLa4 1 Minute Overview
https://www.youtube.com/watch?v=RDgTNJuO_pg Detailed Walkthrough
This project showcases the development of a robotic system for throwing a ring onto a pole with high precision. The system is powered by the Robotic library (ry) (version 0.1.10) for simulation and control, and features:
- A thrower robot that calculates optimal trajectories and velocities to throw a ring.
This project demonstrates cutting-edge robotics concepts, including:
- 🎯 Trajectory Optimization
- 🤖 Kinematics and Dynamics Simulation
- 🛠️ Object Tracking and Manipulation
- 📐 Optimal Velocity Calculation: Computes the throwing velocity using kinematic and dynamic constraints.
- 🌌 Trajectory Simulation: Models ring trajectories accounting for gravity and release parameters.
- 🔄 Inversion Handling: Manages trajectory flipping for complex pole placements.
- First, grasp the ring optimally.
- Second, determine the most effective throwing motion (catapult-style over frisbee-style).
- Third, position the robot for accurate velocity execution.
- Lastly, decide the precise release point for optimal landing.
- 🛠️ Built using the robotic library (
ry) by Marc Toussaint. Thanks Marc! - 🎥 Visualization Support: Displays trajectories and robot movements in real-time.
- A perfect demonstration of real-time robotics simulation.
- Integrates advanced algorithms like trajectory optimization for dynamic adaptability.
- Modular and extensible design for further enhancements and experimentation.
- Enhance the vision system to include machine learning-based tracking for better ring trajectory estimation.
- Optimize RRT algorithms for faster and more efficient pathfinding.
- Add precision and computer vision to the system.
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