pal-robotics

Resources for TIAGo Pro Navigation and HRI workshop @ ROSCon ES 2025

A body controller of the Tiago robot.

Code developed for "An autonomous floor clearing strategy to tidy up unknown home environments with a mobile manipulator robot" paper and Master's thesis by Letícia dos Santos under the supervision of Jim Torresen, Mariana Kolberg, and Renan Maffei.

ROS-based TIAGo simulation performing autonomous navigation, AprilTag object detection, and full pick-and-place manipulation.

Autonomous TIAGo robot in ROS 2 Humble and Gazebo: frontier-based SLAM mapping, AMCL global localization from an unknown start pose, ArUco-driven station discovery, and pick-and-place of two cubes — one launch file per task.

TIAGo Steel's implementation of a dual controller (in pose and effort) for the robotic arm.

ROS software architecture to perform some basic control on the PAL Robotics TIAGo robot through vocal commands.

In this project we proposed a tracking control strategy for a tracked mobile robot under longitudinal slip condition. The proposed control strategy is based on the dynamic model of the tracked robot, in which the longitudinal slip of the left and right tracks are described by two unknown parameters.