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Semi-Autonomous Robotics: (2012) My 1st Software Project

I’m experimenting with committing past projects to github.

Over the summer (2012) at George Washington University Robotics Lab - Positronics Divison (with Roxana Leonetie as my mentor and Gregory Colella as my research partner), we wrote a package for the PR2 using ROS stacks and Python. In short, the PR2 completes a task moving a dowel into a hole (using only force proprioception, via reinforcement learning) as a response to dynamic stimuli.

If you are unfamiliar with the PR2:

Greg was relatively new to Python (an experienced Java coder), and I learned to code the same summer that we completed the project (previously, I had dabbled in mainly math and physics). Bear this in mind while viewing our project.

This is an early demo I simulated in gazebo of the PR2 learning to replicate arm movements (a major part of the project). Your browser does not support the video tag.

Code PR2-positronics

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