Preser

A Matlab Framework For Professional Education in Service Robotics.

About Preser

The object of the project is to develop and test the new area of Professional Education in Service Robotics. The main motivation comes from the fact that there is a significant gap between research education and professiontal education, i.e. addressing the needs of inegrators of service robots.

PRESER will provides lectures for addressing the practical aspects of using a service robot in a domestic environment and a simulation framework based on MATLAB www.mathworks.com and the simulator V-REP www.coppeliarobotics.com for testing your knowledge during the lessons.

Acknowledgement

IEEE RAS-Funded Project CEMRA (Creation of Educational Material in Robotics and Automation)

CEMRA
CEMRA

Download Preser

Our framework is available for OSX, Windows and Debian based distros.You can download the binary included in Preser for free following the button below, or you can get the source code via our public repositories.

Download Binaries Download Source code

Click here to follow step-by-step instructions for setting up Preser on your computer (Mac OS X, Windows, Linux) and connecting it to the simulator.

Sketch

The Sketch section gives you a brief description for the built-in examples of what you can do with Preser. If you want to get some information about the principles, techniques and how to setup the framework read the User manual.

Slam (Simultaneous localization and mapping)

Localization

  • Localization Move and localize your robot on a static map.

Planning

  • Planning Plan a route to a specific destination on a static map.
  • Trajectory Plan a route to a specific destination and move the robot to a specific destination on a static map.

Extra

  • Planimetry Build a simulator scene from a provided planimetry of the environment.
  • Trajectory 2 Use together trajectory generator and free robot navigation.

The Sketch section gives you a brief description for the built-in examples of what you can do with Preser. If you want to get some information about the principles, techniques and how to setup the framework read the User manual.

Object recognition and identification

Grasp planning

  • Geometry Use inverse kinematic to grasp from a point given by segmentation.
  • Agile Grasp Use agile grasp algorithm.

Visual servoing

  • Camera calibration Use matlab camera calibration and load parameters.
  • Visual Navigation and servoing. Define trajectory.

Extra

  • Navigation and grasping Build a simulator scene in office environment which use navigation algorithm and object grasping.

The Sketch section gives you a brief description for the built-in examples of what you can do with Preser. If you want to get some information about the principles, techniques and how to setup the framework read the User manual.

Teleoperation

  • Four Channel Teleoperation architecture.
  • Two Layer Energy tank teleoperation algorithm.
  • TDPA Time Domain Passivity Approach.


Lessons

The structure of the course is divided in two main sections: theory and practice. Click on a element in the list to show the relative topic.