Human-likeness of robot arm motion with postural synergies

Dependances

• Robotics toolbox python
  • If using windows current version 1.1.0 needs two fixes to run the current code
    • Graphical visualsaion via swift is currently not supported under Windows. However there is a hotfix, by changing in SwiftRoute.py self.path[9:] to self.path[10:] More info
    • There was one place where from scipy import randn was called: the roboticstoolbox/mobile/EKF.py but it was not used and causing error. More info

Folder Structure

Here is the folder structure of the project with comments

.
├── data_sets # experiments of the dataset 
├── experiment_data_set # generated trajectories for experiments
├── questionnaire # questionnarie documents, graphs, results
├── real_robot_example # panda_py examples
├── simulation_exp # simulation execution files
├── utils # all supported files
├── exp_end.py # get back to default start position of panda robot
├── exp_start.py # get to the initial position of the experiments
├── exp0.py # expeiment template
├── exp1_1.py
├── exp1_2.py
├── exp1_3.py
├── exp2_1.py
├── exp2_2.py
├── exp2_3.py
├── exp3_1.py
├── exp3_2.py
├── exp3_3.py
└── README.md

Running the experiments

• Run the exp_start.py to get to the start position of the robot arm.
• Run the files exp*_*.py on the root folder to run the experiment on the robot.
• Check the credentials in the real_robot_mapper.py to match the robot currently used.
• The experiment trajectories are already generated. Uncomment the lines in the code to generate the files again (utils\calculate_q.py will generate the trajectories).
• Use exp0.py as template for more experiments.
• Run the exp_end.py to get to back to the original start position of the robot arm.
• Run the files in the .\simulation_exp to start simulation experiments.