Representing and Manipulating Deformable Linear Objects
The RMDLO project from UIUC studies robotic perception and manipulation of Deformable Linear Objects including wire and rope.
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This is the GitHub organization home page for the Representing and Manipulating Deformable Linear Objects (RMDLO) project from the Bretl Research Group at the University of Illinois at Urbana-Champaign (UIUC). The project studies robotic manipulation, grasp planning, tactile sensing, segmentation, simulation, and tracking of wires and ropes.
Our growing hardware stack comprises software for controlling two ABB IRB120 6DOF robotic manipulators, the Rethink Robotics Sawyer 7DOF manipulator, the OnRobot 2FG7 gripper, the Intel RealSense d435 camera, the ZED Mini camera, and the DIGIT tactile sensor. For any project-related inquiries or requests, please contact Holly Dinkel [[email protected]].
Hameed Abdul-Rashid, Timothy Bretl, Brian Coltin Holly Dinkel, Achintya Gahalaut, Naixiang (Gabe) Gao, Zikun (Tony) Liu, Raghavendra (Raghav) Navaratna, Yash Rathod, Fuad Samhouri, Trey Smith, Jingyi Xiang, Harry Zhao H. Dinkel, J. Xiang, H. Zhao, B. Coltin, T. Smith, and T. Bretl (2022) "Wire Point Cloud Instance Segmentation from RGBD Imagery with Mask R-CNN", ICRA Workshop on Deformable Objects. [Paper] [Video] This work is supported through NASA Space Technology Graduate Research Opportunity award 80NSSC21K1292, U.S. Department of Education Graduate Assistance in Areas of National award P200A180050-19, Illinois Space Grant Consortium Undergraduate Research Opportunity Program, UIUC Promoting Undergraduate Research in Engineering, UIUC Office of Undergraduate Research, and the UIUC Department of Aerospace Engineering.
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Repositories
Showing 10 of 28 repositories
- abb_dual_arm Public
This repository contains ROS packages and helper functions for planning and executing paths with two ABB IRB120 robotic manipulators.
RMDLO/abb_dual_arm’s past year of commit activity - trackdlo Public
[RA-L 2023, ICRA 2024, ICRA RMDO 2024] This repository contains the code used in our paper, "TrackDLO: Tracking Deformable Linear Objects Under Occlusion with Motion Coherence." This algorithm is useful for tracking the motion of DLOs, including wire and rope, under several categories of occlusion without physics simulation.
RMDLO/trackdlo’s past year of commit activity - simple-reachability Public Forked from vonunwerth/simple-reachability
Calculate the workspace for a robot and visualize it in RVIZ
RMDLO/simple-reachability’s past year of commit activity - st_handeye_graph Public Forked from koide3/st_handeye_graph
General hand-eye calibration based on reprojection error minimization and pose graph optimization
RMDLO/st_handeye_graph’s past year of commit activity