Task 2: Implementation and integration of adaptive arm and platform controllers

Activities performed:

• Navigation considering environment modeling completed: 3D sensors are used to detect obstacles in the driving direction of the mobile platform; if an obstacle is inside the safety distance the navigation control stops the movement of the mobile platform.
• Arm control considering environment modeling completed: using arm internal sensors and 3D sensors self and environment collision avoidance are performed; arm planner is able compute a collision free trajectory to reach the target position.
• Integration on the prototype in progress: 3D sensors and arm basic software is installed on the prototype; their integration in the ROS environment is still in progress.