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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