The arm and the wrist consist of three revolute joints each.
Goals of the project: (estimated timeline of progress in parenthesis)
- Create nodes for kinematics and dynamics, and successfully simulate a model in Gazebo. (1 month, march)
- Create a set-point controller and a trajectory controller. (2 months, april-may)
- Attach force sensor and create a force-controller. (???)
- Integrate computer vision and visual servoing. (???)
- Create an option for telemanipulation by Myo. (1 month, june)
- Create an option for telemanipulation by Emotiv OR OpenBCI. (???)