Research Update Meeting 04/03/2024

[SimoneMic]

Chair:

• @SimoneMic

Attendees:

• @steb6
• @andrearosasco
• @vigisushrutha23
• @PasMarra

Absent:

• @lornat75

---

Agenda:

Note: Last week's items should become this week's agenda.

Item	Tag	Responsible	Comment
Try to find a common research use-case for papers. Trying to focus on collaborative scenarios	N/A	@steb6 @andrearosasco
Test neck controller on real robot		@SimoneMic	As soon as the robot is available
Calibration of Realsense on the robot		@SimoneMic @PasMarra @andrearosasco	Will try it on Monday 11th March
Wrists dynamic payload is 0.5 kg each, but statically we can hold up to 5/10 kg with both hands		@PasMarra

Additional Discussion Points:

Anything not captured in the agenda.

Discussion Point	Raised By	Tag	Outcome

---

Next Meeting:

Note: These will become the agenda for the next meeting.

Item	Tag	Responsible
Action item.	#Issue	@handle
Tests regarding paper integration on VICON room		@SimoneMic @vigisushrutha23
From the simulation it's emerged that reducing the final grasping angle is better, thus having a wider approach to the grasp for bigger objects (10 degrees increase in the minimum grasp). This week will be delivered to icub-tech	https://github.com/icub-tech-iit/ergocub-design-lowerarm/issues/212 https://github.com/hsp-iit/workbook-pasquale/issues/24#issuecomment-1952793713	@PasMarra
Finish the simpler version of the MPC controller for obstacle avoidance stuff	https://github.com/Woolfrey/paper_fast_mpc/issues/3	@vigisushrutha23
Solved the walking retargeting, now the robot is able to track and do bimanual motions with the object	#164	@SimoneMic @vigisushrutha23
Vicon data analysis, data is corrupt by the VICON setup. To solve this, we will move the marker on the forearm and do a take with only the robot, then we will superimpose the human walking	#164	@SimoneMic @vigisushrutha23
Started discussing Automatic Goal Generation	#165	@steb6 @SimoneMic

| Start the pipeline to automatically generate a goal from a perceived action | N/A | @SimoneMic @steb6 | |

Conclusions:

A summary of the meeting.