handover_moveit

The code here is meant to reproduce the experiment conducted in the handover release paper by Zhao Han and Holly Yanco, The Effects of Proactive Release Behavior during Human-Robot Handovers, accepted by HRI 2019.

Hardware

• Rethink Baxter robot
• PhidgetInterfaceKit 8/8/8
• Voltage Divider
• Force Sensing Resistor - Interlink Electronics 1.5″ Square 20N
• 2 USB extension cables
  1. Connect PhidgetInterfaceKit to a PC
  2. Connect Voltage Divider to FSR, hide the hardware behind the right shoulder of Baxter

Software/Dependencies

• Ubuntu 14.04
• ROS indigo
• Baxter SDK
• moveit! -- select the indigo branch in the git repo
• libphidget22
• Python 2 (Pre-installed with Ubuntu 14.04; make sure Python 3 binary is not in your path)
• Ruby 2.4.4 (any newer version or some old versions compatible with 1.9 should also work)
• [Recommended] JetBrains CLion IDE

Run the experiment

Make sure the absolute path /home/zhao/Dropbox/research17fall/experiment/ in all files is changed to yours.

Make sure the IP address of Baxter in the run_experiment/run.rb is yours.

Enable the robot: rosrun baxter_tools enable_robot.py -e

cd to the root of this project

Launch the .launch files: roslaunch handover_moveit baxter_get_ready.launch. The baxter_get_ready.launch is in the launch directory, you can take a brief look at what it is doing.

get almost ready: rosrun handover_moveit get_almost_ready_node

look at participants: rosrun handover_moveit look_at_participants_node

run the experiment: ruby run_experiment/run.rb