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Arm Control with Baxter Simulator
Published in Wyatt S. Newman, A Systematic Approach to Learning Robot Programming with ROS, 2017
The Baxter robot has 15 servoed degrees of freedom, including seven joints of the right arm, seven joints of the left arm and a pan (left–right swivel) motion of the neck. The head (display) can also nod, although this is only a binary command (tilt of the neck is not servo controlled). The Baxter robot and simulator include three cameras: one on the display (head) and one each on the wrists. Other sensors include sonar sensors around the crown, a short-range infra-red distance sensor in each tool flange, joint angle sensors on each servoable joint, and joint torque sensors.
A framework for robotic clothing assistance by imitation learning
Published in Advanced Robotics, 2019
R. P. Joshi, N. Koganti, T. Shibata
The experimental setup contains a compliant dual-arm humanoid robot Baxter. Each arm of the Baxter robot has 7 degrees of freedom (DOF). The setup of our system is shown in Figure 5. A Kinect v2 [46] depth sensor is mounted below the LCD on the chest of Baxter by a custom designed mount. We have used two finger electric gripper provided by Baxter. We designed soft fingertips which were plugged into these fingers tightly as shown in Figure 6. These soft fingertips 3D printed using soft-material, are necessary for firm gripping of flexible clothing article hence provides better cloth manipulation. The clothing article is held by these fingertips, and it is put in the arms of Baxter robot manually by a human assistant. A chair is provided to the subject to sit on during the dressing task and face the Baxter. The robot puts the clothing article on the human subject. During the process clothing article goes over the arms of the human subject. Hence it is essential for the subject to keep his arms straight and to face towards the robot. It should be noted that Baxter's arms have limited workspace and it cannot reach the torso of the subject while arms of the subject are extended. Therefore we propose to use a portable chair wherein the movement of the chair is restricted by keeping it on rails. This arrangement of the chair provides sufficient movement required for performing a dressing assistance task.
Factors that affect younger and older adults’ causal attributions of robot behaviour
Published in Ergonomics, 2020
Richard Pak, Jessica J. Crumley-Branyon, Ewart J. de Visser, Ericka Rovira
The robot used in this study was the Baxter robot manufactured by Rethink Robotics. Baxter is a manufacturing robot that can complete tasks that involve assembly and object organisation. Age of the robot was manipulated by digitally super-imposing one of two faces onto the display of the robot (Figure 1(a)). The younger and older adult faces used in the study are shown in Figure 1(b,c). Because the current study did not manipulate the gender of the robot, the facial stimuli for both the younger and older condition were female. In order to control for potential confounds for different faces, the faces selected for this study represented an age progression of the same female.
Development of writing task recombination technology based on DMP segmentation via verbal command for Baxter robot
Published in Systems Science & Control Engineering, 2018
Chunxu Li, Chenguang Yang, Andy Annamalai, Qingsong Xu, Shaoxiang Li
The Baxter robot (shown in Figure 2) was developed by Rethink Robotics in the United States and is an innovative intelligent collaborative robot, which is an ideal alternative to manpower outsourcing and fixed work automation (Yang et al., 2017). With its unique features and benefits, Baxter enables manufacturers to create cost-effective solutions when handling small batches, multi-variety production jobs, freeing the hands of technical staff. Nowadays, there are many industrial leading companies worldwide applying Baxter to their production and have thus obtained a huge commercial competitive advantage (Wilson, Schultz, Ansari, & Murphey, 2017).