Approximate Cartesian Control for Robotic Tool Usage with Graceful Degradation(MSC-25958-1)

This is a software toolkit for flexible tool use by robotic manipulators. The suite of state-of-the-art algorithms is focused on extending current pick-and-place planning and control methods to enable robust tool usage by humanoid and other armed robots. The system provides more intuitive tools for the user of the robotic manipulator, including visualization tools for defining tool use scenarios, including Cartesian tolerances along trajectories and expected forces/torques on the tool tip. This allows robots to be more capable and more reliable during long-term autonomous tasks, by significantly improving the ability of remote supervisors to command complex tool-usage tasks, by enabling robots to operate safely alongside humans during shared tasks, and by providing a general tool usage framework that works with novel tools and with any robot configuration.No NASA Software Usage Agreement Needed. Go to https://bitbucket.org/traclabs/craftsman