Tutorial Parkour

About this parkour

Four hands-on tutorials of increasing complexity. Each one introduces new force-controlled skills in pitasc - from a simple slotted maze up to spherical motions on a curved surface.

Choose a tutorial

0 · Simple maze

Move a cylindrical peg through a slotted maze, guided purely by force feedback.

force feedback gripper

1 · T-piece insertion

Insert a T-piece into a fixture with chamfered and non-chamfered guides.

guided insertion gripper

At a glance

#	Tutorial	Focus
0	Simple Maze – Cartesian Space	Simple maze, cylindrical peg, force-feedback guidance
1	Guided Insertion Operation	T-piece insertion into a guided fixture (chamfered / non-chamfered)

Tutorial details

0 - Simple maze with a cylindrical peg

Simple Maze – Cartesian Space

This tutorial focuses on a very simple maze, solved by moving a cylindrical peg from start to finish. The peg is held by a gripper on a manipulator arm, and its motion is governed by the force feedback that the force-torque sensor receives from the interaction of the peg with the maze walls.

Parts used in tutorial 0: a cylindrical peg and a simple maze with a guiding slot.

1 - T-piece insertion into a guided fixture

Guided Insertion Operation

This tutorial focuses on the operation of inserting a T-piece into a fixture with guides. The fixture used here has two guides, one on each side. One side contains chamfered edges and the other does not, which increases the complexity of the operation.

Parts used in tutorial 1: a T-piece and a fixture with guides on the top and bottom side.