Model-Based Manipulation of Linear Flexible Objects with Visual Curvature Feedback (AIM 2020)

Paper link & Paper link

Video link

System overview:

System requirement:

ROS Kinectic

YOLO object detection

Opencv

PCL

Kinova ROS package

Moveit

Hardware requirement:

Kinova Jaco v2 arm

Realsense D435

Kinect

Introduction:

/launch folder includes a launch file for launching the robot, launching the Realsense camera, launching the Kinect camera, and launching the YOLO object detection

/src folder includes all the source codes

Copyright:

This work was developed at the RIVeR Lab, Northeastern University