This post describe another project that I have assigned to our students at Aalesund University College while teaching mechatronics. In particular, this project addresses the problem of body mapping in robotic imitation where the demonstrator and imitator robots may not share the same embodiment (degrees of freedom, body morphology, constraints and so on).
The main idea consists in realising a flexible architecture to control different imitators with dissimilar kinematic structure by using the same demonstrator robot. The challenge in designing such a system consists of implementing a flexible mapping method between different kinematic models.
For the current implementation, I gratefully acknowledge the contribution of the students Longva Ole Martin, Skinnes Marius Pieroth, Nilsen Christian Steiner, Strand Jan Ove.