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ipab-rad
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saifer-surgery
Edinburgh university dual arm software repository - built for exploration into learning methods for safer surgery through robot assistance.
MIT License
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Hierarchical planner
#24
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mgb45
opened
4 years ago
mgb45
commented
4 years ago
Planning is difficult right now because of cables/ camera - hard to move long distances.
Set up rapid hierarchical planner library eg. if moving A->C, known to be difficult, add node so plan is A->B->C
Overlay on moveit - uses fixed plans to jump between regions where planning fails.
Build on Katie's work in active vision branch
Good MSc project