Teleoperation and Force Feedback for the PR2
I worked with another student to port our teleoperation code from Cody to the PR2. This resulted in open source code for interfacing with the Phantom Omni through ROS (see here). In addition to general teleoperation, I added a simple position-position force feedback architecture. Although the estimated force at the end effector is based on the commanded torques, those torques are basically a function of error in commanded position. For this I am specifically referencing the kinematic Jacobian transpose controller that we are using for this project. The result is not extremely impressive in terms of perfect force reflection, but it was nonetheless useful in basic tasks as shown below.