THE KAUTHAM PROJECT
A robot simulation toolkit for motion planning and
teleoperation guiding
Multiplatform
and open-source
· Programming language: C++
· 3D rendering: coin3D
· GUI: Qt
· Collision detection: PQP
· Graph management: Boost Graph
· Neighborhood: MPNN
· Input data: XML files
Modular and
extensible
· Geometric library: freeflying robots, kinematic
chains and trees
· Sampling library: random and deterministic sampling
strategies (Halton, sdk)
· Planning library: sampling-based roadmaps,
RRTs
· GUI library: graphic rendering and
flexible library management
· Device library: haptic devices, data gloves,
robots and mechanical hands (Phantom,
CyberGlove, Staubli TX90, SAH)
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