PR2 Tool Adapter

Author

Advait Jain (http://www.cc.gatech.edu/~advait), Advisor: Prof. Charlie Kemp

What this does

Adapter that can be used to have the PR2 grab onto different tools. This was inspired by the method used to enable PR2s to grasp flags at the 'PR2 graduation event'.

Hardware

Image of the solidworks part for the hook that mounts on to an ATI Mini 40 Force/Torque sensor.

• We designed the hook in Solidworks and printed it on a 3D printer.
  • Solidworks CAD file (hook.sldprt). This requires Solidworks 2009.
  • STL file (hook.stl).
• The mounting holes in the base of the hook match an ATI Mini40 force torque sensor. (http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40) or the Hook_End_Effector

Code

• ROS (http://www.ros.org)
• The code that we used to enable the robot to open drawers and doors using this hook as the end effector can be downloaded from our ROS repository. You will need the following ROS packages from our public ROS repository (available at http://code.google.com/p/gt-ros-pkg/wiki/hrl_content_summary)
  1. code_publications/2009_humanoids_epc_pull (http://code.google.com/p/gt-ros-pkg/source/browse/#svn/trunk/hrl/code_publications/2009_humanoids_epc_pull)