AIRWiki - User contributions [en]

File:ManualeUtente.pdf

2012-07-05T15:40:50Z

DiegoConsolaro: Manuale d'uso della scheda

Manuale d'uso della scheda

LURCH - The autonomous wheelchair

2012-06-29T10:41:14Z

DiegoConsolaro: /* New Board for Joystick Hack! */

{{Project
|title=LURCH - the autonomous wheelchair
|image=LURCH wheelchair.jpg
|short_descr=Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|collaborator=GiulioFontana;AndreaBonarini
|students=DiegoConsolaro
|resarea=Robotics
|restopic=Robot development
|start=2007/02/01
|end=2015/12/31
|status=Active
}}


__TOC__

L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House" and beside the intentional reminder to the Addam's family character it is the autonomous wheelchair developed at the AIRLab.

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[HeadsetControlForWheelChair | facial muscle control]], [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

= Restyling =
Lurch has been restyled in June 2010, see [[LURCH_Restyling|here]] the upgrades...

== New Board for Joystick Hack! ==
[[user:DiegoConsolaro|Diego Consolaro]] during his thesis time has written [[Media:LurchMontaggioSchede.pdf | a paper]] (in Italian) to assembly the new modular board that he has developed.

Also during the thesis,many kind of joystick of commercial wheelchair were analyzed; the results of this analysis are summarized in his [[Media:LurchThesisConsolaro.zip |thesis]] (in Italian).

In the [[Media:ManualeUtente.pdf|user manual]] (in Italian) is written the commands for the normal use of the board system.

------------------------------------------------------------------------------------------------
Laboratory work and risk analysis

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

LURCH - The autonomous wheelchair

2012-06-14T10:14:01Z

DiegoConsolaro: /* New Board for Joystick Hack! */

{{Project
|title=LURCH - the autonomous wheelchair
|image=LURCH wheelchair.jpg
|short_descr=Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|collaborator=GiulioFontana;AndreaBonarini
|students=DiegoConsolaro
|resarea=Robotics
|restopic=Robot development
|start=2007/02/01
|end=2015/12/31
|status=Active
}}


__TOC__

L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House" and beside the intentional reminder to the Addam's family character it is the autonomous wheelchair developed at the AIRLab.

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[HeadsetControlForWheelChair | facial muscle control]], [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

= Restyling =
Lurch has been restyled in June 2010, see [[LURCH_Restyling|here]] the upgrades...

== New Board for Joystick Hack! ==
Diego Consolaro during his thesis time has written [[Media:LurchMontaggioSchede.pdf]] (in Italian) a paper for assembly the new modular board developed.

Also during the thesis, were analyzed many kind of joystick of commercial wheelchair, the result of this analysis are summarized in [[Media:LurchThesisConsolaro.pdf]] (in Italian).

In the user manual [[Media:ManualeUtente.pdf]] (in Italian) is written the commands for the normal use of the board system.

LURCH - The autonomous wheelchair

2012-06-14T10:13:31Z

DiegoConsolaro: /* New Board for Joystick Hack! */

{{Project
|title=LURCH - the autonomous wheelchair
|image=LURCH wheelchair.jpg
|short_descr=Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|collaborator=GiulioFontana;AndreaBonarini
|students=DiegoConsolaro
|resarea=Robotics
|restopic=Robot development
|start=2007/02/01
|end=2015/12/31
|status=Active
}}


__TOC__

L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House" and beside the intentional reminder to the Addam's family character it is the autonomous wheelchair developed at the AIRLab.

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[HeadsetControlForWheelChair | facial muscle control]], [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

= Restyling =
Lurch has been restyled in June 2010, see [[LURCH_Restyling|here]] the upgrades...

== New Board for Joystick Hack! ==
Diego Consolaro during his thesis time has written [[Media:LurchMontaggioSchede.pdf]] (in Italian) a paper for assembly the new modular board developed.

Also during the thesis, were analyzed many kind of joystick of commercial wheelchair, the result of this analysis are summarized in [[Media:LurchThesisConsolaro.pdf]] (in Italian).
In the user manual [[Media:ManualeUtente.pdf]] (in Italian) is written the commands for the normal use of the board system.

LURCH - The autonomous wheelchair

2012-06-14T10:11:24Z

DiegoConsolaro: /* New Board for Joystick Hack! */

{{Project
|title=LURCH - the autonomous wheelchair
|image=LURCH wheelchair.jpg
|short_descr=Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|collaborator=GiulioFontana;AndreaBonarini
|students=DiegoConsolaro
|resarea=Robotics
|restopic=Robot development
|start=2007/02/01
|end=2015/12/31
|status=Active
}}


__TOC__

L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House" and beside the intentional reminder to the Addam's family character it is the autonomous wheelchair developed at the AIRLab.

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[HeadsetControlForWheelChair | facial muscle control]], [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

= Restyling =
Lurch has been restyled in June 2010, see [[LURCH_Restyling|here]] the upgrades...

== New Board for Joystick Hack! ==
Diego Consolaro during his thesis time has written [[Media:LurchMontaggioSchede.pdf]] (in Italian) a paper for assembly the new modular board developed.
Also during the thesis, were analyzed many kind of joystick of commercial wheelchair, the result of this analysis are summarized in [[Media:LurchThesisConsolaro.pdf]] (in Italian).
In the user manual [[Media:ManualeUtente.pdf]] (in Italian) is written the commands for the normal use of the board system.

File:LurchMontaggioSchede.pdf

2012-06-14T09:38:58Z

DiegoConsolaro: uploaded a new version of "File:LurchMontaggioSchede.pdf": Many new section for single ended joystick 5V and 12V type

File:LurchMontaggioSchede.pdf

2012-05-30T10:02:24Z

DiegoConsolaro: uploaded a new version of "File:LurchMontaggioSchede.pdf": new file

LURCH - The autonomous wheelchair

2012-03-28T19:53:11Z

DiegoConsolaro: /* New Board for Joystick Hack! */

{{Project
|title=LURCH - the autonomous wheelchair
|image=LURCH wheelchair.jpg
|short_descr=Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|collaborator=GiulioFontana;AndreaBonarini
|students=DiegoConsolaro
|resarea=Robotics
|restopic=Robot development
|start=2007/02/01
|end=2011/12/31
|status=Active
}}


__TOC__

L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House" and beside the intentional reminder to the Addam's family character it is the autonomous wheelchair developed at the AIRLab.

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[HeadsetControlForWheelChair | facial muscle control]], [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

= Restyling =
Lurch has been restyled in June 2010, see [[LURCH_Restyling|here]] the upgrades...

== New Board for Joystick Hack! ==
Diego Consolaro during his thesis time has written [[Media:LurchMontaggioschede.pdf]] (in Italian) a paper for assembly the new modular board developed.

LURCH - The autonomous wheelchair

2012-03-28T19:42:03Z

DiegoConsolaro: /* New Board for Joystick Hack! */

{{Project
|title=LURCH - the autonomous wheelchair
|image=LURCH wheelchair.jpg
|short_descr=Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|collaborator=GiulioFontana;AndreaBonarini
|students=DiegoConsolaro
|resarea=Robotics
|restopic=Robot development
|start=2007/02/01
|end=2011/12/31
|status=Active
}}


__TOC__

L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House" and beside the intentional reminder to the Addam's family character it is the autonomous wheelchair developed at the AIRLab.

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[HeadsetControlForWheelChair | facial muscle control]], [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

= Restyling =
Lurch has been restyled in June 2010, see [[LURCH_Restyling|here]] the upgrades...

== New Board for Joystick Hack! ==
Diego Consolaro during his thesis time has written [[Media:Lurch_Montaggio_schede.pdf]] (in Italian) a paper for assembly the new modular board developed.

LURCH - The autonomous wheelchair

2012-03-28T19:37:25Z

DiegoConsolaro: /* New Board for Joystick Hack! */

{{Project
|title=LURCH - the autonomous wheelchair
|image=LURCH wheelchair.jpg
|short_descr=Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|collaborator=GiulioFontana;AndreaBonarini
|students=DiegoConsolaro
|resarea=Robotics
|restopic=Robot development
|start=2007/02/01
|end=2011/12/31
|status=Active
}}


__TOC__

L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House" and beside the intentional reminder to the Addam's family character it is the autonomous wheelchair developed at the AIRLab.

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[HeadsetControlForWheelChair | facial muscle control]], [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

= Restyling =
Lurch has been restyled in June 2010, see [[LURCH_Restyling|here]] the upgrades...

== New Board for Joystick Hack! ==
Diego Consolaro during his thesis time has written [[Media:Lurch_Montaggio_schede.pdf]] (in Italian) a paper for assembly the new two board developed.

Talk:LURCH - The autonomous wheelchair

2012-03-28T19:36:36Z

DiegoConsolaro: /* People Involved */

=D-Link router=
ip: 192.168.0.100 
User: admin 
Pass: pcbricklurch 

mac-address clonato all'interfaccia esterna: 00-40-63-eb-d1-a1 (pcbrick-03) 

'''2010 December 14''' the router doesn't work... seems that someone has used the "reset" button, because alla the settings are to the default (user:"admin" pass:"", no wireless configuration, router ip 192.168.0.1, no mac clone...) '''TO BE FIXED'''

==Wireless==
SSID: lurch 
channel: 6 
WPA2 PSK: pcbricklurch 

==Fixed IPs==
pcbrick-one 192.168.0.5 00-40-63-eb-d2-a2 
pcbrick-03 192.168.0.3 00-40-63-eb-d1-a1 
simone-desktop 192.168.0.1 00-02-72-52-04-a1 
pcbrick-one 192.168.0.5 00-30-18-a2-aa-8e 
simone-laptop 192.168.0.2 00-1f-3c-9c-66-f1 

=Planner=
MSL library soruce + PQP source: [[Media:MSL.zip]]
compiled on Ubuntu 8.10 with gcc 4.3.2

=Software Installation [TODO: complete]=
This guide is tested on Ubuntu 8.10, 9.04 and Xubuntu 8.10. GCC version in 4.3.

* Install the following packages:
** qt3-dev-tools
** qt4-dev-tools
** build-essential
** flex
** bison
** libjsw-dev
** libboost-dev
** libdc1394-13-dev
** libgsl0-dev
** libgtk2.0-dev
** libncurses5-dev

If you want you can cut and paste this command line:
sudo apt-get install ...

* Download this file: [TODO], which contains ARToolKitPlus Libraries

** unpack it in /opt folder
** go into /opt/ARToolKitPlus_2.1.1
** export ARTKP=/opt/ARToolKitPlus_2.1.1
** qmake
** make
** sudo make install

* download lurch-control.tar.gz
** extract it in your home folder
** make cleanall
** make ROBOT=wheelchair MODULE=misc
** make ROBOT=wheelchair
** cd wheelchair
** ln -s ../logExtract.sh ./
** ln -s ../run.sh ./

* download lurch-wheelchair-standalone.tar.gz
** extract it in your home folder
** go into lurch-wheelchair-standalone/config
** edit config.ini
*** replace line with hostname=airlab-blackbox with hostname=<yourhostname>
** edit agent.ini
*** find and replace all "airlab-blackbox" with <yourhostname>

* download the server for simulation (you need sun-java6-jdk installed and Eclipse is suggested)
...

* from lurch-wheelchair-standalone
** sudo ./run.sh

=Available Documentation=

- Documentation on the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitDocument.pdf]].

- '''WARNING''': the circuit was modified and the documentation above is upgraded by this new file: [[Media:LurchXBee.pdf]].

- How to modify the wheelchair joystick to connect to the interface circuit: [[Media:LurchCircuitJoystick.pdf]].

- Brief discussion about the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitJoystickBrief.pdf]].

- Brief description of the LURCH project: [[Media:LurchBriefDesc.pdf]].

- Brief description of the communication between the wheelchair interface circuit and a PC via RS232 port: [[Media:LurchProtocol.pdf]].

- Source code for PIC 18F452 microprocessor and Eagle project (schematic and board): [[Media:LurchCircuitProject.zip]].

- Battery replacement done on May 2009, description of work: [[Media:LurchBatteryReplacement.pdf]].

- Thesis by Simone Ceriani, titled ''Sviluppo di una carrozzina autonoma d'ausilio ai disabili motori'' (Development of an autonomous wheelchair to help motor-disabled persons): [[Media:LurchThesisCeriani.pdf]] (in Italian)

- Thesis presentation by Simone Ceriani (note: Videos don't work, you can found similar videos below): [[Media:LurchPresentazioneThesisCeriani.zip]]

- Thesis by Marco Dalli, titled ''Sviluppo di un sistema di controllo basato su odometria per una carrozzina robotica'' (Development of a control system based on odometry for a robotic wheelchair): [[Media:LurchThesisDalli.pdf]] (in Italian)

- Thesis presentation by Marco Dalli: [[Media:LurchPresentazioneThesisDalli.zip]]

- Thesis by Marco Assini, titled ''Sviluppo di un pianificatore di percorsi geometrici per una carrozzina autonoma'' (Development of a geometric path planner for an autonomous wheelchair): [[Media:LurchThesisAssini.pdf]] (in Italian)

- Thesis presentation by Marco Assini (the file contains a ppt version, a pptx, and a simplified pdf version without animation): [[Media:LurchPresentazioneThesisAssini.zip]]

- Thesis by Mauro Brenna, titled ''Scan Matching, Covariance Estimation and SLAM: Models and Solution for the scanSLAM Algorithm'': [[Media:MauroBrennaMastersThesis2010.pdf‎]] (in English)

- Pdf with ArtoolKitPlus Fiducial Markers collection. Dimension are 160x160mm. [[Media:ArtoolKitPlusMarkers-160mm.pdf.zip]]

=PCBricks Configuration=
PCBrick-03 and PCBrick-05 feature Xubuntu Linux 7.10, Xfce Window Manager, Openchrome graphics drivers and eGalax touchscreen drivers v1.08.1227 (Drivers [http://210.64.17.162/web20/TouchKitDriver/linuxDriver.htm here]).
The touchscreen is configured and calibrated on both machines, hence it can be used with either one or the other indifferently.

=Electronics development=
We are currently designing a new electronic main board for the wheelchair.

The idea is to base the whole system on a CANbus, allowing a complete modularization of the on-board electronics.

[[Lurch_electronics_development|Read more on this topics here...]]

=Software development=
* Try a different sw architecture, now we are examinating orocos [http://www.orocos.org]
* Integrate Marco Assini's thesis (RRT planning) with current release
* Develop an improved navigation system [[Navigation_system_for_LURCH|Read more on this topics here...]]

=People Involved=

[[User:AndreaBonarini|Andrea Bonarini]]

[[User:MatteoMatteucci|Matteo Matteucci]]

[[User:DavideMigliore|Davide Migliore]]

[[User:GiulioFontana|Giulio Fontana]]

[[User:BernardoDalSeno|Bernardo Dal Seno]]

[[User:MarcoDalli|Marco Dalli]] (ex-Tesista)

[[User:SimoneCeriani|Simone Ceriani]] (Dottorando)

[[User:MatteoRossi|Matteo Rossi]] (ex- Tesista)

[[User:MarcoAssini|Marco Assini]] (ex-Tesista)

[[User:MauroBrenna|Mauro Brenna]] (Tesista)

[[User:DiegoConsolaro|Diego Consolaro]] (ex-Tesista)

Talk:LURCH - The autonomous wheelchair

2012-03-28T19:36:16Z

DiegoConsolaro: /* People Involved */

DiegoConsolaro: