4 September 2023 Research Development Meeting

[Woolfrey]

Chair:

• Jon @Woolfrey

Attendees:

• @vigisushrutha23
• @SimoneMic
• @lornat75

Absent:

• @andrearosasco
• @steb6

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Agenda:

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

Item	Tag	Responsible	Comment

N/A

Additional Discussion Points:

Anything not captured in the agenda.

Discussion Point	Raised By	Tag	Outcome
Sent draft paper on stiffness optimization to Arash	@Woolfrey	#113	Need to set up a meeting to discuss potential improvements
Tested stiffness optimisation control on ergoCub; problems with wrist	@Woolfrey	#112	Simulations are probably sufficient.
Re-writing icub-bimanual repository as ergocub-bimanual and cleaning up the code.	@Woolfrey	N/A	Hopefully complete in a few days?
Singularity avoidance complete	@Woolfrey	#35	Can replace simulations of Kuka with simulations of ergoCub?
Integration of Walking Module with Bimanual-Manipulation	@vigisushrutha23	#108	Fix to be completed by end of week
Potential real experiments with sidestep walking due to lack of space	@vigisushrutha23	#117	Rough task list for doing experiments outside robot arena

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Next Meeting:

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

Item	Tag	Responsible
Action item.	#Issue	@handle
Work on cleaning up control code with ergocub-bimanual repository	N/A	@Woolfrey
Test singularity avoidance method with ergoCub simulation in Gazebo	#35	@Woolfrey
Finish full integration of Bimanual+walking controller and test on ErgoCubSN000	#108	@vigisushrutha23
Finish testing sidestep walking on ErgoCub and do demo with fake obstacles	N/A	@vigisushrutha23, @SimoneMic