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RoboSapien Based Autonomous Humanoid Robot

RoboSapien Based Autonomous Humanoid Robot

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RoboSapien Based Autonomous Humanoid Robot

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  1. RoboSapien Based Autonomous Humanoid Robot Researched and Presented by Nick Repka

  2. Introduction: The Need • Small HRI laboratories like the i-lab require access to humanoid robots for research • Purpose built advanced humanoids are too expensive for almost all but the most well funded labs • Robots like the Sony Aibo make great research platforms but, as great as it is the Aibo will always be a dog

  3. Introduction: The Why • Humanoid robots are on their way to becoming a commodity • Research to determine how these machines will interact with and be controlled by people needs to be carried out before they come to market

  4. Introduction: The How • Created an autonomous Humanoid robotic platform by modifying an inexpensive toy robot • Added computing power by integrating a cheap mobile computer, in this case a PDA • Use of a plug-in camera or platform native microphone to add sensory capability

  5. Topics of Discussion • Hardware Review • Software Review • Hardware Proof of Concept • Software Proof of Concept

  6. Hardware Review • PDA Choice • Camera Choice • Robot Platform

  7. Manufacturer Model Processor CF Version OS RAM Mass Price Toshiba E830 Intel PXA 520MHz II PPC 2003 128MB 200g $600 Hewlett Packard IPAQ hx 2190 Intel PXA 312MHz II Win Mobile 5 64MB 164.4g $400 IPAQ hx 2490 Intel PXA 520MHz II Win Mobile 5 64MB 164.4g $550 IPAQ hx 2750 Intel PXA 624Mhz II PPC 2003se 128MB 164.4g $650 Dell Axim X51 - 416 Intel PXA 416MHz II Win Mobile 5 64MB 167g $300 Axim X51 - 520 Intel PXA 520MHz II Win Mobile 5 64MB 167g $400 Axim X51v Intel PXA 624MHz II Win Mobile 5 64MB 175g $500 Fujistu Siemens Loox 720 * Intel PXA 520MHz II PPC 2003 128MB 170g N/A PDA Choice

  8. Manufacturer Model Resolution Compatibility Price LifeView FlyCam-CF 1.3MP PPC 2000 -2003se (WM5 in development) $130 Pretec Compact Camera 640X480 PPC 2002 $90 Veo Photo Traveler 640X480 PPC 2002 Palm OS $100 Camera Choice

  9. RoboSapien Cheap! Simple Construction Had one on hand Had been used with success by others RoboSapien V.2 Not cheap More complex Would have had to locate and purchase No previous work to follow Robot Platform

  10. Software Review • PDA Operating System • Development Environment • IR Remote Software • Existing Code

  11. PDA Operating System • Pocket PC 2002, 2003, 2003SE was used by others with great success for several years, but obsolescence was setting in • Windows Mobile 5.0 starting to become standard • Most devices built for PPC 200X won’t run WM5 very well and a device designed for WM5 wont run PPC200X at all

  12. Development Environment Embedded Visual C++ 3.0 • Won’t work with WM5 Embedded Visual C++ 4.0 • Requires carefully installed SDKs but lacks proper instructions to tell the programmer how to do so Visual Studio .Net 2005 • Works with all Windows CE versions • Finds installed SDKs automatically

  13. Existing Code Freiburg University researchers had already done similar research for a soccer playing RoboSapien and published their code online • Most of the basic functionality was present • Written in Visual C++ • Provided an easy interface to the IR port

  14. IR Remote Software Ultramote by CardonWare was the only real consideration • Easy to use • Cheap and easy to get • The C++ code to interface with it already existed

  15. Hardware Proof of Concept • PDA mounting considerations • Light weighting and balancing • Final Assembly

  16. PDA Mounting Freiburg 2004 Freiburg 2005

  17. Light weighting and Balancing • Drilled holes in chassis • Removed unnecessary components • Cut sections out of chassis and body shell

  18. Final Assembly Opted for a Horizontal PDA position • Eliminates extra body shell weight • Returns the center of gravity close to stock • Easier to see and manipulate the PDA

  19. Software Proof of Concept • Converted EVC 3.0 Freiburg code to a VS 2005 project • Compiled, installed and ran test program on PDA • Successfully added and modified functionality in the code base

  20. Current Limitations The PDA camera is not working as expected • Despite assurances the camera and driver should work on our PDA it does not • Represents a failure to close the control loop with external sensors

  21. New Directions • Solve camera issues • Extension of existing code base to allow better use of the RoboSapien’s programmable firmware capabilities • Additional sensors • Real honest to god HRI research