Flexible Manipulation

The Flexible Manipulation system provides a FlexBE compatible state machine interface to manipulation capabilities such as those provided by ROS MoveIt! stack.

The system allows more flexible designs, including collaborative autonomy that enables operator verification via the FlexBE graphical interface.

This system is available on github for the ROS Kinetic system. The system is currently under development, with official release slated for May 2018. The system will include simulation-based demonstrations using a Kinova MICO arm.

Documentation

This page is currently in development. The system is currently being finalized and will be officially released in May 2018.

Download

The base software is available on github and can be checked out in your workspace by running:

git clone https://github.com/CNURobotics/flexible_manipulation.git

The system was originally developed and tested in ROS Kinetic.

Tutorials

The complete integrated simulation demonstration using a Kinova MICO arm will be released in May 2018 on github.

Citation

To appear: @INPROCEEDINGS{FlexibleManipulation, author={D. C. Conner, D. Catherman, S. Enders, J. Gates, and J. Gu}, title={Flexible Manipulation: Finite state machine-based Collaborative Manipulation}, booktitle={SoutheastCon 2018}, year={2018}, month={April},}

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]