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Vision-Based Robot Control Bax Smith Term 8 Electrical (CC) Outline How I came up with this project Components of the project Visual Demo Conclusion Vision-Based Robot Control Person: 5 Senses Robot: 1 Sense Person: Mobile Robot: Mobile Person: Can Grasp Objects Robot: Can Grasp Objects

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vision based robot control

Vision-Based Robot Control

Bax Smith

Term 8 Electrical (CC)

outline
Outline
  • How I came up with this project
  • Components of the project
  • Visual Demo
  • Conclusion
vision based robot control3
Vision-Based Robot Control
  • Person: 5 SensesRobot: 1 Sense
  • Person: MobileRobot: Mobile
  • Person: Can Grasp ObjectsRobot: Can Grasp Objects
  • Person: Intelligent
  • Robot: ?
applications for sambuca
Applications for Sambuca
  • Get me beer from fridge
  • Vacuum carpet
  • Mow the lawn
  • Give tours
  • Recycle!Illustrates the point and Saves the environment!
components of sambuca
Components of Sambuca
  • Vision System
  • Mobility System
  • Intelligence System
  • Arm System
sambuca vision system
Sambuca - Vision System
  • Hardware: Webcam
  • The Problem: Distinguishing Cans/Bottles from other things
  • The Solution: Image Processing and Feature Extraction
sambuca mobility system
Hardware: Electric Wheelchair Base

Turns by reversing direction of wheel rotations

Sambuca - Mobility System
sambuca intelligence system
Sambuca - Intelligence System
  • What to do if it sees an object?
  • How far away is the object?
  • Is on the left or right?
  • What about multiple objects?
  • How to get to the object?
sambuca intelligence fsm

START

DETECT

Retrieval

Scavenger

GRAB

RELEASE

Delivery

DONE

Sambuca - Intelligence - FSM
  • Scavenger - look for object
  • Retrieval - grasp object
  • Deliver - put in bin
sambuca arm system

Serial

RT200 Robotic Arm

PC -

Intelligence

Sambuca - Arm System
  • RT200 Robotic Arm
  • Go to Point - Acknowledge
conclusion
Conclusion
  • Finds and distinguishes objects very well
  • Tracks and follows targets very well
  • Arm could do with its own vision system
  • Mobile Base could do with its own Control System/Encoders