PR2 Robotic Hand and Syntouch Sensor Real-Time Interface

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Authors

Salmon, Brandon

Issue Date

2016

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Thesis

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en_US

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Abstract

The PR2 Robotic Hand and Syntouch Sensor Real-Time Interface project is a project focused on creating a software suite to facilitate the use of a Willow-Garage PR2 robot with Syntouch BioTacĀ® sensors attached to its hands. The Syntouch sensors, also known as the fingers, are capable of providing a variety of highly accurate sensor data similar in nature to the capabilities of human fingertips [1]. If those senses are integrated with the PR2 robot, it will broaden the capabilities of the PR2 significantly. This project aims to provide that integration in the form of a software suite that is capable of aggregating data from the syntouch sensors, and furthermore capable of controlling the PR2 robot based on that real-time sensor data. This project is important to the furthering of robotics research because it paves the way for experiments that rely on a robot having a sense of touch.

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