# 1st Project

### Development of an algorithm for creating sphere representation of complex objects which allows faster collision checking.

## Purpose

- Motion planning involves a lot of collision checking.
- Reduction of the collision checking calculation is important for the real-time perception-based motion planning.
- Therefore we would like to simplify meshes of robots into spheres.

## Current Method

- Current method takes only box shapes as inputs. It cannot deal with the objects of general shapes.
- Output of the current method is just a series of spheres (array) which are not efficient for the collision checking calculation.

## Approach

- New method takes general shapes of objects as inputs.
- Output of the new method is a hierarchical tree structure of spheres (sphere-tree) which is efficient for the collision checking calculation.

## Number of Calculations for Collision Checking (Ex.)

## Result

## 2ND PROJECT

### Joystick teleoperation of the end-effector of Fetch

## PURPOSE

- There are three kinds of control for manipulation: Pose(position), twist(velocity), wrench(torque).
- It is necessary to enable a joystick to control the end-effector to check if the controller is working fine.

## APPROACH

- Mapping linear and angular velocity to key #1, #2, and tilting motions.
- Converting reference frame using key #11 and #9.
- Using KDL library to solve 7 DOF arm kinematics.

## RESULT

Code can be found at Fetch Robotics** Github** as an open source. Fetch users are now able to control the end-effector using the joystick.