LARA Repository

Welcome to our Repository!

Here you will find information on our projects, databases, APIs and other developments from our team

AMORA: The Autonomous Mobile Robot Algorithms (AMORA) project aims to enable our Pioneer 3 robots to perform simple tasks autonomously. In order to do so, we plan to integrate state-of-the-art algorithms in path planning, navigation, SLAM, object recognition and others within the ROS framework.
CLARA: A research and development project funded by Brazilian Ministry of Health for development of a medical robot for endoscope holding during laparoscopic surgery procedures. The robot moves the endoscopic camera according to surgeon commands by voice or a hand joystick

Aramis: mobile robot platform based on Pioneer P3 base, equipped with 3D Vision, GPS/INS data fusion system, sonar ring and WiFi. Software run on Linux and ROS. This repository commom to the three platforms used at LARA: Athos, Porthos and Aramis.
Cyton: Cyton Alpha 7D1G is a 7 DOF Robot Arm developed by Robai. It presents 9 servo motors controlled by a SSC-32 board. However, the servo motors does not provide position feedback. For this reason, the Cyton Alpha only allows open-loop projects, restricting a lot the possibilities of development. This project has as main goal closing the loop of the Cyton arm and developing a Matlab-Arduino user interface with some functions
Kyle_XY_and Jesse_XX: small mobile manipulators used for teaching.
Meka Manipulador: Meka is a compliant manipulator. The Meka repository aims to enable and prepare the Meka Robotics A2 Arm to be used in other projects which require a compliant robotic manipulator. In order to do that it is necessary to develop and implement control techniques, kinematics and dynamics for the robot. All that is being done using ROS, C/C++, python, V-REP and the A2 Arm provided codes.
Porthos: ROS packages for Pioneer 3AT, the Porthos robot, useable for both simulation and real robot operation.

gDataLogger: data logger library written in C language for real-time, multithreading projects. Samples for pthread, RTAI and XENOMAI. Data is saved in .mat file, allowing reading in Matlab scripts.
gMatrix: Matrix data type and linear algebra functions in C language for real-time and embedded platforms.

Boas práticas de programação: Good programming practices
Guia geral do LARA: LARA’s guide for new users.
blue pill STM32F103: Software development environment for generic, low-cost “blue pill” boar for STM32F103 32-bit microcontroller from ST Microelectronics.