Home >Documents >Making Intelligent Walking Robots Accessible to Educators: A Brain and Sensor Pack for Legged Mobile...

Making Intelligent Walking Robots Accessible to Educators: A Brain and Sensor Pack for Legged Mobile...

Date post:21-Dec-2015
Category:
View:218 times
Download:3 times
Share this document with a friend
Transcript:
  • Slide 1
  • Making Intelligent Walking Robots Accessible to Educators: A Brain and Sensor Pack for Legged Mobile Robots Weinberg, Yu, Wheeler, Knight, Mead et al.
  • Slide 2
  • Goals & Objectives Bring affordable, programmable, legged robot platforms into classroom curricula Reusable sensors & microcontroller with open-source S/W. Reusable sensors & microcontroller with open-source S/W. Common computing framework. Common computing framework. Develop advanced software modules to support curriculum for courses in AI and robotics Leverage existing S/W packages (Tekkotsu, Webots, Microsoft Robot Studio, Myro...) Leverage existing S/W packages (Tekkotsu, Webots, Microsoft Robot Studio, Myro...) Allow easy integration of many robots with any higher-level application with open API. Allow easy integration of many robots with any higher-level application with open API.
  • Slide 3
  • Robots in AI Education Wheeled robot platforms have become easy for educators to incorporate into AI courses opportunity for students to program physically embodied systems added interest and excitement to course
  • Slide 4
  • Robots in AI Education Many microcontrollers have crossed threshold of indignation the maximal behavioral component that we are willing to make to get a task done (Saffo, 1996)
  • Slide 5
  • Robots in AI Education Legged robots are not as evolved as wheeled robots for education with the exception of the Sony Aibo Has since been put to sleep (discontinued) . Has since been put to sleep (discontinued) . Target market was entertainment. Target market was entertainment. Became popular with educators in the classroom and for research. Became popular with educators in the classroom and for research. Existing legged platforms operate using open-loop control Limited or no sensory input from environment. Limited or no sensory input from environment. Relies on pre-programmed motions. Relies on pre-programmed motions. Dedicated motor controller. Dedicated motor controller.
  • Slide 6
  • Legged Robot Platforms and many more!
  • Slide 7
  • SkewlZone: Brain Pack, Sensors, and Interface SW Generalized system that provides perception and cognitive ability to off-the-shelf legged robots. RoadNarrows designed: I 2 C haptic foot and hand sensors, 3-axis IMU for balance. I 2 C haptic foot and hand sensors, 3-axis IMU for balance. Mechanical mounts and attachments for several robots. Mechanical mounts and attachments for several robots. Interface board for easy plug and play of other sensors (eg. I 2 C, digital, analog, or USB). Interface board for easy plug and play of other sensors (eg. I 2 C, digital, analog, or USB). Smart camera in progress. Smart camera in progress.
  • Slide 8
  • SkewlZone: Brain Pack, Sensors, and Interface SW The Brain is a KorebotLE embedded XScale Linux board Linux board designed by K-Team, Switzerland and designed for robotics. Linux board designed by K-Team, Switzerland and designed for robotics. Open-source tools, software, and supports 802.11b wireless. Open-source tools, software, and supports 802.11b wireless. RoadNarrows developed the S/W, libraries to talk to robots, sensors, either on-target or off-target. RoadNarrows developed the S/W, libraries to talk to robots, sensors, either on-target or off-target.
  • Slide 9
  • SkewlZone: Brain Pack and Sensor Suite Supported Robots: Kondo KHR-2HV In progress: HiTec RoboNova Kumotek KT-X Vstone RoboVie Future:RobotisDog?Suggestions?
  • Slide 10
  • Sensor Spotlight: Humanoid Foot Gives user/developer ability to continuously measure robot center of gravity center of pressure on each foot magnitude of force on bottom of each foot Toes give force feedback ideal for soccer competitions Autonomous responses can be programmed for quick, low-level reactions to the environment. Demonstration
  • Slide 11
  • Sensor Spotlight: Humanoid Foot Gives user/developer ability to continuously measure robot center of gravity center of pressure on each foot magnitude of force on bottom of each foot Toes give force feedback ideal for soccer competitions Autonomous responses can be programmed for quick, low-level reactions to the environment. Demonstration How?How?
  • Slide 12
  • Software Architecture Allows for real-time sensing and on-board control. Quickly develop applications using an open interface Provides a layer of abstraction to legged system. Provides a layer of abstraction to legged system. Microcontroller connected to robot's motor controller to send servo commands, and receive sensor data Microcontroller connected to robot's motor controller to send servo commands, and receive sensor data High-level capabilities: motion, touch, balance, vision, Wi-fi allows for off-target control, high-level processing, mobile network applications, and monitoring.
  • Slide 13
  • Leveraging Tekkotsu Open source development framework for intelligent robots Developed by Carnegie Melon University. Developed by Carnegie Melon University. Have offered support for this project. Have offered support for this project. Originally written for AIBOs. Originally written for AIBOs. Recently extended to a number of different platforms. Recently extended to a number of different platforms. Provides high-level modules, written as C++ classes Actuators: head, arms, legs, wheels, etc. Actuators: head, arms, legs, wheels, etc. Sensors: camera, rangefinders, buttons, microphones, etc. Sensors: camera, rangefinders, buttons, microphones, etc. Interaction: screen, speakers, LEDs, etc. Interaction: screen, speakers, LEDs, etc.
  • Slide 14
  • Extending Tekkotsu New device defined for SkewlZone family create a specific robot namespace (e.g., KondoKHR2) define physical properties in namespace (e.g., N_LEGS) provide a kinematic description used for modeling and manipulating the robots frame used for modeling and manipulating the robots frame
  • Slide 15
  • Robot Namespace Categorize robots into hierarchical namespaces; derive parent properties.
  • Slide 16
  • Properties & Kinematic Description Physical properties often lead to interest points in a kinematic description.
  • Slide 17
  • Robots in AI Education Modules developed for AI and robotics curriculum. User defines behaviors by creating C++ classes derived from existing Tekkotsu base classes Easy to create additional modules large number of existing behavior classes for reference
  • Slide 18
  • Robots in AI Education Consider developing behaviors for a trash-pickup robot TrashcanTrashcan TrashTrash TrashTrash TrashTrash
  • Slide 19
  • Robots in AI Education Tekkotsu also includes a Storyboard tool allows user to monitor the current state of the robot
  • Slide 20
  • Project Status Implemented Brain Pack S/W, device libraries, scripting language, and Python demonstration applications. Created SkewlZone driver in Tekkotsu and developed motion control to Kondo KHR2. Kinematics definition in progress. Humanoid Foot sensors, hand sensors, IMU, interface board, physical mounts. Limited prototypes available. Curriculum for Intro. AI course under development (SUIE). Phase I completed. Will apply for Phase II. Pre-orders to support our effort and beta testers welcome!
  • Slide 21
  • Contributors Ian Bernstein Robin Knight Doug Webster Kim Wheeler-Smith Jeff Croxell Ross Mead Jerry B. Weinberg William Yu RoadNarrows LLC SIUE
  • Slide 22
  • Acknowledgements This research is a partnership between RoadNarrows LLC, Colorado Southern Illinois University Edwardsville (SIUE) This grant is supported by the National Science Foundation (NSF) Small Business Technology Transfer Research (STTR) Program Grant No. 0711909 We would like to thank CMUs David Touretzky and Ethan Tira-Thompson for their full Tekkotsu support.
  • Slide 23
  • Questions? For more information, please visit http://wiki.roadnarrows.com/index.php?title=SchoolZone_-_Main_Page
Popular Tags:

Click here to load reader

Reader Image
Embed Size (px)
Recommended