Debug · C++ with GDB and Core Dump Files
Sep 11, 2023
Motivation During the course of developing large C++ projects, one will inevitably encounter bugs that crash the program without much information, such as segmentation faults or uncaught exceptions. To debug...
Design · Rule-Based Behavior Graph Abstraction
Sep 4, 2023
Graph : public Node properties name type enabled states current iteration total iteration time terminated <Node*> <Var*> scope: graph, nodes category: tool, AI, device, robot, peripheral Requirements start (only...
Design · Rule-Based Robot Control Software Architecture
Jul 31, 2023
Figure 1: System Configuration flowchart TD Arm[Armn-DOF] Ext[External axesm-DOF] Controller[Whole body controller] Stacking[Motion, force, vision, posture tasks with dynamic stacking] Arm & Ext --> Stacking --> Controller ArmControl[Control...
Operational Space Framework, Hybrid Motion-Force Control
Jul 9, 2023
Motivation When a robot has redundant degrees-of-freedom, solving its inverse kinematics can be difficult or less efficient since the solution is not unique. When the control goal is to achieve certain contact...
Rigid Body Motion, Concepts and Terminologies
Apr 23, 2023
Motivation Rigid body motion is a fundamental component in robotics. The description of rigid body system motion often involves spatial vector algebra and certain special Orthogonal, Euclidean, and Lie groups. In the...