Introduction

This page shows a demonstration of the project where a Kinova Mico robot arm plays the game Towers of Hanoi. The system uses a Kinect camera to observe the objects and is implemented in ROS. Planning is done using the HYPE planner.

The project was realised as part of the master thesis of Olivier Kamers.

Experiments

Setup

The setup in the lab is shown in this figure:

Each disk (block) has a color to identify its size in the model corresponding to this drawing (created using this snippet):

Demo

Code

Hanoi

The code is available in the KU Leuven Machine Learning repository.

DC Bridge

The code for the DC Bridge is available on BitBucket.