PR2 Tool Adapter
From Healthcare Robotics Wiki
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'.
- We designed the hook in Solidworks and printed it on a 3D printer.
- 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
- 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)
- 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)