Download - Making Intelligent Walking Robots Accessible to Educators: A Brain and Sensor Pack for Legged Mobile Robots Weinberg, Yu, Wheeler, Knight, Mead et al.

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

Weinberg, Yu, Wheeler, Knight, Mead Weinberg, Yu, Wheeler, Knight, Mead et al.et al.

Goals & ObjectivesGoals & Objectives

Bring affordable, programmable, legged Bring affordable, programmable, legged robot platforms into classroom curricula…robot platforms into classroom curricula…

Reusable sensors & microcontroller with open-source Reusable sensors & microcontroller with open-source S/W.S/W.

Common computing framework.Common computing framework.

Develop advanced software modules to Develop advanced software modules to support curriculum for courses in AI and support curriculum for courses in AI and robotics…robotics…

Leverage existing S/W packages (Tekkotsu, Webots, Leverage existing S/W packages (Tekkotsu, Webots, Microsoft Robot Studio, Myro ...)Microsoft Robot Studio, Myro ...)

Allow easy integration of many robots with any higher-Allow easy integration of many robots with any higher-level application with open API. level application with open API.

Robots in AI EducationRobots in AI Education

Legged robots are not as evolved as wheeled Legged robots are not as evolved as wheeled robots for education … robots for education … with the exception of the with the exception of the Sony AiboSony 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 Became popular with educators in the classroom and for

research.research.

Existing legged platforms operate using Existing legged platforms operate using open-loop open-loop controlcontrol……

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.

SkewlZone: Brain Pack, Sensors, SkewlZone: Brain Pack, Sensors, and Interface SWand Interface SW

Generalized system that provides perception Generalized system that provides perception and cognitive ability to off-the-shelf legged and cognitive ability to off-the-shelf legged robots.robots.

RoadNarrows designed:RoadNarrows designed:

II2 2 C haptic foot and hand sensors, 3-axis IMU for C haptic foot and hand sensors, 3-axis IMU for balance.balance.

Mechanical mounts and attachments for several Mechanical mounts and attachments for several robots.robots.

Interface board for easy plug and play of other sensors Interface board for easy plug and play of other sensors (eg. I(eg. I22C, digital, analog, or USB). C, digital, analog, or USB).

Smart camera in progress. Smart camera in progress.

SkewlZone: Brain Pack, Sensors, SkewlZone: Brain Pack, Sensors, and Interface SWand Interface SW

The Brain is a KorebotLE embedded XScale Linux The Brain is a KorebotLE embedded XScale Linux board…board…

Linux board designed by K-Team, Switzerland and Linux board designed by K-Team, Switzerland and designed for robotics. designed for robotics.

Open-source tools, software, and supports 802.11b Open-source tools, software, and supports 802.11b wireless. wireless.

RoadNarrows developed the S/W, libraries to talk to RoadNarrows developed the S/W, libraries to talk to robots, sensors, either on-target or off-target.robots, sensors, either on-target or off-target.

SkewlZone: Brain Pack and Sensor SkewlZone: Brain Pack and Sensor SuiteSuite

Supported Supported Robots:Robots:Kondo KHR-Kondo KHR-2HV2HV

In progress:In progress:HiTec HiTec RoboNovaRoboNovaKumotek KT-XKumotek KT-XVstone Vstone RoboVieRoboVie

Future:Future:RobotisRobotisDog?Dog?Suggestions?Suggestions?

Software ArchitectureSoftware Architecture

Allows for real-time sensing and on-board Allows for real-time sensing and on-board control.control.

Quickly develop applications using an open Quickly develop applications using an open interface…interface…

Provides a layer of abstraction to legged Provides a layer of abstraction to legged system.system.

Microcontroller connected to robot's motor Microcontroller connected to robot's motor controller to send servo commands, and controller to send servo commands, and receive sensor datareceive sensor data

High-level capabilities: motion, touch, High-level capabilities: motion, touch, balance, vision, …balance, vision, …

Wi-fi allows for off-target control, high-level Wi-fi allows for off-target control, high-level processing, mobile network applications, processing, mobile network applications, and monitoring.and monitoring.

Leveraging TekkotsuLeveraging Tekkotsu

Open source development framework for Open source development framework for intelligent robots…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 Recently extended to a number of different

platforms.platforms.

Provides high-level modules, written as C++ Provides high-level modules, written as C++ classes…classes…

Actuators: head, arms, legs, wheels, etc.Actuators: head, arms, legs, wheels, etc. Sensors: camera, rangefinders, buttons, Sensors: camera, rangefinders, buttons,

microphones, etc.microphones, etc. Interaction: screen, speakers, LEDs, etc.Interaction: screen, speakers, LEDs, etc.

Extending TekkotsuExtending Tekkotsu

New device defined for SkewlZone New device defined for SkewlZone family…family… create a specific robot create a specific robot namespacenamespace (e.g., (e.g.,

KondoKHR2KondoKHR2)) define define physical propertiesphysical properties in namespace in namespace

(e.g., (e.g., N_LEGSN_LEGS)) provide a provide a kinematic descriptionkinematic description

used for modeling and manipulating the robot’s used for modeling and manipulating the robot’s frameframe


Modules developed for AI and robotics Modules developed for AI and robotics curriculum.curriculum.

User defines behaviors by creating C++ User defines behaviors by creating C++ classes…classes… derived from existing Tekkotsu base derived from existing Tekkotsu base

classesclasses

Easy to create additional modules…Easy to create additional modules… large number of existing behavior classes large number of existing behavior classes

for referencefor reference


Tekkotsu also includes a Storyboard toolTekkotsu also includes a Storyboard tool allows user to monitor the current state of allows user to monitor the current state of

the robotthe robot

Project StatusProject Status

Implemented Brain Pack S/W, device libraries, Implemented Brain Pack S/W, device libraries, scripting language, and Python demonstration scripting language, and Python demonstration applications.applications.

Created SkewlZone driver in Tekkotsu and developed Created SkewlZone driver in Tekkotsu and developed motion control to Kondo KHR2. Kinematics definition motion control to Kondo KHR2. Kinematics definition in progress.in progress.

Humanoid Foot sensors, hand sensors, IMU, interface Humanoid Foot sensors, hand sensors, IMU, interface board, physical mounts. Limited prototypes available. board, physical mounts. Limited prototypes available.

Curriculum for Intro. AI course under development Curriculum for Intro. AI course under development (SUIE).(SUIE).

Phase I completed. Will apply for Phase II.Phase I completed. Will apply for Phase II.

Pre-orders to support our effort and beta testers Pre-orders to support our effort and beta testers welcome!welcome!

ContributorsContributors

Ian BernsteinIan Bernstein Robin KnightRobin Knight Doug WebsterDoug Webster

Kim Wheeler-Kim Wheeler-SmithSmith

Jeff CroxellJeff Croxell Ross MeadRoss Mead Jerry B. WeinbergJerry B. Weinberg William YuWilliam Yu

RoadNarrows LLCRoadNarrows LLC SIUESIUE

AcknowledgementsAcknowledgements

This research is a partnership between…This research is a partnership between… RoadNarrows LLC, ColoradoRoadNarrows LLC, Colorado Southern Illinois University Edwardsville (SIUE)Southern Illinois University Edwardsville (SIUE)

This grant is supported by the National This grant is supported by the National Science Foundation (NSF) Small Business Science Foundation (NSF) Small Business Technology Transfer Research (STTR) Technology Transfer Research (STTR) Program…Program… Grant No. 0711909Grant No. 0711909

We would like to thank CMU’s David We would like to thank CMU’s David Touretzky and Ethan Tira-Thompson for Touretzky and Ethan Tira-Thompson for their full Tekkotsu support.their full Tekkotsu support.

Questions?Questions?

For more information, please visitFor more information, please visithttp://wiki.roadnarrows.com/index.php?title=SchoolZone_-_Main_Page