CatchMyToss

Two UR3's learning to bond over a friendly game of catch ball.

One UR3 throws and the other UR3 catches (independently using sensors).

Start Date: 29/4/2019

Presentable Version Completed: 31/5/2019

Video

Contributors:

Sheffield Dong, 98127297

Contribution: Catching, Camera Tracking

Hein Wai Leong, 12480000

Contribution: Throwing, Catching and Simulation

Quoc Tuan Kenny Tran, 12610844

Contribution: Simulation

Setup

• Matlab and ROS

Tossing

• UR3 Arm
• Servo + Gripper
• UR modern driver
• Action Lib

Catching

• UR3 Arm
• ZED Stereo Camera (incl. SDK and ROS package)
• OpenCV 2.4