Extension of the quadruped robot WARUGADAR - Revision history

MarcoDeambrogi at 13:29, 10 March 2009

2009-03-10T13:29:10Z

MarcoDeambrogi at 09:12, 22 February 2009

2009-02-22T09:12:47Z

MarcoDeambrogi at 09:11, 22 February 2009

2009-02-22T09:11:19Z

MarcoDeambrogi at 09:05, 22 February 2009

2009-02-22T09:05:38Z

MarcoDeambrogi at 08:51, 22 February 2009

2009-02-22T08:51:45Z

MarcoDeambrogi at 08:38, 22 February 2009

2009-02-22T08:38:55Z

MarcoDeambrogi at 08:21, 22 February 2009

2009-02-22T08:21:06Z

MarcoDeambrogi at 11:59, 1 February 2009

2009-02-01T11:59:26Z

GiovanniAlfieri: /* Students */

2008-10-29T15:47:50Z

‎Students

GiovanniAlfieri: /* Project short description */

2008-10-29T15:45:58Z

‎Project short description

← Older revision		Revision as of 13:29, 10 March 2009
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	== '''Part 3: Conclusion''' ==		== '''Part 3: Conclusion''' ==
	Warugadar can move in a structured environment independently and safely.		Warugadar can move in a structured environment independently and safely.
		+
		+	{{#ev:youtube\|iuWaEtW__xc}}
		+	*[http://www.youtube.com/watch?v=iuWaEtW__xc External link]

@@ Line 10: / Line 10: @@
 === Dates ===
 * Start date: May 2008
-* End date: March 2009 (max)
+* End date: March 2009
 === People involved ===

@@ Line 36: / Line 36: @@
 To implement the navigation system, I don't use the MATLAB interface developed by Cirillo Simone, but I use the interface developed in Pyro by my colleague Giovanni Alfieri. What is Pyro? Pyro stands for Python Robotics. The goal of the project is to provide a programming environment for easily exploring advanced topics in artificial intelligence and robotics without having to worry about the low-level details of the underlying hardware. Pyro is written in Python. Python is an interpreted language, which means that you can experiment interactively with your robot programs. In addition to being an environment, Pyro is also a collection of object classes in Python. Because Pyro abstracts all of the underlying hardware details, it can be used for experimenting with several different types of mobile robots and robot simulators. Pyro has the ability to define different styles of controllers, which are called the robot's brain. One unique characteristic of Pyro is the ability to write controllers using robot abstractions that enable the same controller to operate robots with vastly different morphologies.
-[[Image:PYRO.jpg]]
+[[Image:PYRO.jpg]][[Image:Asof.jpg]]
 === Pratical Phase ===

@@ Line 29: / Line 29: @@
 * 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.
-== '''Part 2: project description''' ==
+== '''Part 2: Project Description''' ==
 To implement the vision system, I use CMUcam3 (where CMU stands for Carnegie Mellon University of Pittsburgh, Pennsylvania).
 CMUcam3 is not only a simple camera, but we can define it like an ARM7TDMI based fully programmable embedded computer vision sensor. The main processor is the Philips LPC2106 connected to an Omnivision CMOS camera sensor module with a maximun resolution of 352x288 pixels. Custom C code can be developed for the CMUcam3 using a port of the GNU toolchain along with a set of open source libraries and example programs. Executables can be flashed onto the board using the serial port with no external downloading hardware required.
@@ Line 35: / Line 36: @@
 To implement the navigation system, I don't use the MATLAB interface developed by Cirillo Simone, but I use the interface developed in Pyro by my colleague Giovanni Alfieri. What is Pyro? Pyro stands for Python Robotics. The goal of the project is to provide a programming environment for easily exploring advanced topics in artificial intelligence and robotics without having to worry about the low-level details of the underlying hardware. Pyro is written in Python. Python is an interpreted language, which means that you can experiment interactively with your robot programs. In addition to being an environment, Pyro is also a collection of object classes in Python. Because Pyro abstracts all of the underlying hardware details, it can be used for experimenting with several different types of mobile robots and robot simulators. Pyro has the ability to define different styles of controllers, which are called the robot's brain. One unique characteristic of Pyro is the ability to write controllers using robot abstractions that enable the same controller to operate robots with vastly different morphologies.

← Older revision		Revision as of 08:51, 22 February 2009
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	To implement the vision system, I use CMUcam3 (where CMU stands for Carnegie Mellon University of Pittsburgh, Pennsylvania).		To implement the vision system, I use CMUcam3 (where CMU stands for Carnegie Mellon University of Pittsburgh, Pennsylvania).
	CMUcam3 is not only a simple camera, but we can define it like an ARM7TDMI based fully programmable embedded computer vision sensor. The main processor is the Philips LPC2106 connected to an Omnivision CMOS camera sensor module with a maximun resolution of 352x288 pixels. Custom C code can be developed for the CMUcam3 using a port of the GNU toolchain along with a set of open source libraries and example programs. Executables can be flashed onto the board using the serial port with no external downloading hardware required.		CMUcam3 is not only a simple camera, but we can define it like an ARM7TDMI based fully programmable embedded computer vision sensor. The main processor is the Philips LPC2106 connected to an Omnivision CMOS camera sensor module with a maximun resolution of 352x288 pixels. Custom C code can be developed for the CMUcam3 using a port of the GNU toolchain along with a set of open source libraries and example programs. Executables can be flashed onto the board using the serial port with no external downloading hardware required.
		+	[[Image:CMU.jpg]]
		+
		+	To implement the navigation system, I don't use the MATLAB interface developed by Cirillo Simone, but I use the interface developed in Pyro by my colleague Giovanni Alfieri. What is Pyro? Pyro stands for Python Robotics. The goal of the project is to provide a programming environment for easily exploring advanced topics in artificial intelligence and robotics without having to worry about the low-level details of the underlying hardware. Pyro is written in Python. Python is an interpreted language, which means that you can experiment interactively with your robot programs. In addition to being an environment, Pyro is also a collection of object classes in Python. Because Pyro abstracts all of the underlying hardware details, it can be used for experimenting with several different types of mobile robots and robot simulators. Pyro has the ability to define different styles of controllers, which are called the robot's brain. One unique characteristic of Pyro is the ability to write controllers using robot abstractions that enable the same controller to operate robots with vastly different morphologies.

← Older revision		Revision as of 08:38, 22 February 2009
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	== '''Part 2: project description''' ==		== '''Part 2: project description''' ==
		+	To implement the vision system, I use CMUcam3 (where CMU stands for Carnegie Mellon University of Pittsburgh, Pennsylvania).
		+	CMUcam3 is not only a simple camera, but we can define it like an ARM7TDMI based fully programmable embedded computer vision sensor. The main processor is the Philips LPC2106 connected to an Omnivision CMOS camera sensor module with a maximun resolution of 352x288 pixels. Custom C code can be developed for the CMUcam3 using a port of the GNU toolchain along with a set of open source libraries and example programs. Executables can be flashed onto the board using the serial port with no external downloading hardware required.

@@ Line 6: / Line 6: @@
 === Project short description ===
 * Warugadar is still far from being a complete functional autonomous robot; the robot would benefit from the introduction of any other kind of sensor device that could allow it to be more aware of the surrounding environment. We want integrate on WARUGADAR one camera to provide it of visual sensibility.
-* The Warugadar interface was developed in Matlab, we would translate in Pyro to benefit open source software
+* The Warugadar interface was developed in Matlab, we would translate in Pyro to benefit open source software.
 === Dates ===
@@ Line 13: / Line 13: @@
 === People involved ===
 ==== Project head ====
@@ Line 28: / Line 30: @@
 == '''Part 2: project description''' ==

@@ Line 20: / Line 20: @@
 ==== Students ====
 * [[User:MarcoDeambrogi|Marco Deambrogi]]
 === Laboratory work and risk analysis ===