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Haptic telemanipulation

This repository contains the implementation of a haptic telemanipulation system. A Touch haptic device controls a simulated Franka Emika panda robot arm remotely via a TCP socket.

Specifically, the operations includes:

  1. Position-force end-effector control.
  2. Intent detection using Deep Q-Learning.
  3. Trajectories modelling using Probabilistic Movement Primitives (ProMP).

Requirements

  • This implement is used with Python 3. An environment requirements.txt file is provided.
  • Touch haptic device (Ethernet version) with its driver.
  • H3DAPI

Usage

Run main.py in the required environment:

python main.py.

Then, when the haptic device is connected to the system, run this in command line to initialize device:

h3dload haptic/haptic.x3d