Difference between revisions of "LURCH - The autonomous wheelchair"

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[[Image:LURCH wheelchair.jpg|thumb|right|300px|LURCH in DEI exploration]]
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{{Project
L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House".
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|title=LURCH - the autonomous wheelchair
Click [http://airlab.elet.polimi.it/index.php/airlab/projects/robotics_for_disabled_people/politam2_lurch_robotic_wheelchair here] for a brief description of the project, taken from the AIRLab website.
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|image=LURCH wheelchair.jpg
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|short_descr=Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces
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|coordinator=MatteoMatteucci
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|tutor=SimoneCeriani;
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|collaborator=GiulioFontana;AndreaBonarini
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|students=DiegoConsolaro;LucaCalabrese
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|resarea=Robotics
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|restopic=Robot development
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|start=2007/02/01
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|end=2015/12/31
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|status=Closed
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}}
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<!--[[Image:LURCH wheelchair.jpg|thumb|right|300px|LURCH in DEI exploration]]-->
  
LURCH is an extended version of an electric commercial wheelchair (Rabbit by OttoBock) equipped with
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__TOC__
# Interface circuit for digital drive via radio serial link (XBee modules)
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# Two onboard computers ([[PCBricks]]), powered by wheelchair batteries
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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. Its name for "official" settings is RBWC (RoBy WheelChair).
# 7" touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSW]), 800x480 resolution (16:10 AR)
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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
 
# Two laser scanners Hokuyo URG 04LX
# Colour camera FireI400 (resolution 640*480)
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# A colour camera FireI400 (resolution 640×480)
# Accelerometer, gyroscope, magnetometer XSens MTi.
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# An odometry system based on encoders applied to the rear wheels
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<!-- #Accelerometer, gyroscope, magnetometer XSens MTi.-->
  
 
Main goals of the LURCH project are:
 
Main goals of the LURCH project are:
# Add sensor and robotics functionality to the powered wheelchair.
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# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interface, such as Joypad wireless, speech command, Brain Computer Interface.
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# Add various command interfaces, such as Joypad wireless, speech command, [[HeadsetControlForWheelChair | facial muscle control]], [[Brain-Computer Interface|brain-computer interface]].
# Semiautonomous navigation with collision and obstacle avoidance.
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# Semi-autonomous navigation with collision and obstacle avoidance.
 
# Autonomous navigation by path planning and localization.
 
# Autonomous navigation by path planning and localization.
  
Function currently provided by LURCH:
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Functions currently provided by LURCH:
# Drive by original Joystick or Logitech RumblePad2 Wireless Joypad.
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# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle identification using planar scanner laser.
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# Obstacle sensing using planar scanner lasers.
# Collision and Obstacle Avoidance basic behaviours.
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# Basic collision and obstacle avoidance behaviours.
# Indoor localization by ''Fiducial Marker System''
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# Indoor localization by a ''fiducial marker system''
# Path Planning and basic autonomous navigation.
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# Path planning and basic autonomous navigation.
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# [[Brain-Computer Interface|Brain-computer interface]] driving system
  
==Available Doumentation==
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'''NOTE: AIRWiki users can find operative information to use the Lurch robot in the Discussion tab associated to this page.'''
  
- Documentation on interface circuit between wheelchair joystick and computer: [[Media:LurchCircuitDocument.pdf]].
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==Media Coverage==
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Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.
  
- '''WARNING''': the circuit was modified and the documentation above is upgraded by this new file: [[Media:LurchXBee.pdf]].
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==LURCH YouTube Videos==
 
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- How to modify the wheelchair joystick to adapt to interface circuit: [[Media:LurchCircuitJoystick.pdf]].
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- Brief discussion about interface circuit between wheelchair joystick and computer: [[Media:LurchCircuitJoystickBrief.pdf]].
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- Brief description about LURCH project: [[Media:LurchBriefDesc.pdf]].
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- Brief description about communication between the wheelchair interface circuit and a PC via RS232 port: [[Media:LurchProtocol.pdf]].
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- Source code for PIC 18F452 microprocessor and Eagle project (schematic and board): [[Media:LurchCircuitProject.zip]].
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- Thesis by Simone Ceriani, title "Sviluppo di una carrozzina autonoma d'ausilio ai disabili motori": [[Media:LurchThesisCeriani.pdf]]
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- Thesis presentation by Simone Ceriani (note: Videos doesn't work, you can found similar videos below): [[Media:LurchPresentazioneThesisCeriani.zip]]
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==PCBricks Configuration==
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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]).
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The touchscreen is configured and calibrated on both machines, hence it can be used with either one or the other indifferently.
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==Electronics development==
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A universal interface to connect various models of joysticks to the wheelchair onboard systems is currently under design. The interface should be programmable in order to accept absolute or differential analog voltage inputs and generate a coherent output, while transferring the values read to the PC via serial port.
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= LURCH YouTube Video =
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{{#ev:youtube|7bZ45sGf3qs}}
 
{{#ev:youtube|7bZ45sGf3qs}}
  
*[http://it.youtube.com/watch?v=7bZ45sGf3qs External link]
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*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]
  
 
{{#ev:youtube|PFjlmcTbGVs}}
 
{{#ev:youtube|PFjlmcTbGVs}}
*[http://it.youtube.com/watch?v=PFjlmcTbGVs External link]
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*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]
  
 
{{#ev:youtube|RBfIq8eQJ6Q}}
 
{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://it.youtube.com/watch?v=RBfIq8eQJ6Q External link]
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*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]
  
 
{{#ev:youtube|iRw8PhY8IF4}}
 
{{#ev:youtube|iRw8PhY8IF4}}
*[http://it.youtube.com/watch?v=iRw8PhY8IF4 External link]
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*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]
 
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=LURCH On media=
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*[http://www.galileonet.it/news/11044/penso-dunque-muovo News on Galileonet.it - 22-01-2009]
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*[http://www.ansa.it/opencms/export/site/notizie/rubriche/altrenotizie/visualizza_new.html_873282152.html News on Ansa.it 22-01-2009]
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*[http://tv.repubblica.it/tecno-e-scienze/muoversi-con-il-pensiero/28512?video Video from RepubblicaTv 22-01-2009]
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*[http://it.youtube.com/watch?v=lRP-ae4iaZA Rai Tg Leonardo speaks about AirLab, lurch is involved 08-2008, thanks to Gianmaria :-)]
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*Lurch was on Studio Aperto in 26-01-2009
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=People Involved=
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[[User:AndreaBonarini|Andrea Bonarini]]
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[[User:MatteoMatteucci|MatteoMatteucci]]
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[[User:DavideMigliore|Davide Migliore]]
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[[User:GiulioFontana|GiulioFontana]]
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{{#ev:youtube|zlhePZbRxZA}}
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*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]
  
[[User:MarcoDalli|Marco Dalli]] (Tesista)
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= Restyling =
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Lurch has been restyled in June 2010, see [[LURCH_Restyling|here]] the upgrades...
  
[[User:SimoneCeriani|Simone Ceriani]] (Assegnista di ricerca)
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== New Board for Joystick Hack! ==
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[[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.
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 +
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).
  
[[User:MatteoRossi|Matteo Rossi]] (Tesista)
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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 ===
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------------------------------------------------------------------------------------------------
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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:
 
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:

Latest revision as of 16:38, 28 February 2017

LURCH - the autonomous wheelchair
Image of the project LURCH - The autonomous wheelchair
Short Description: Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces
Coordinator: MatteoMatteucci (matteo.matteucci@polimi.it)
Tutor: SimoneCeriani (ceriani@elet.polimi.it)
Collaborator: GiulioFontana (giulio.fontana@polimi.it), AndreaBonarini (andrea.bonarini@polimi.it)
Students: DiegoConsolaro (diego.consolaro@mail.polimi.it), LucaCalabrese (luca.calabrese@mail.polimi.it)
Research Area: Robotics
Research Topic: Robot development
Start: 2007/02/01
End: 2015/12/31
Status: Closed

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. Its name for "official" settings is RBWC (RoBy WheelChair).

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:

  1. An interface circuit for digital drive via a radio serial link (XBee modules)
  2. Two on-board computers (PCBricks), powered by wheelchair batteries
  3. A 7-inch touchscreen monitor (Xenarc 700TSV), 800x480 resolution (16:10 AR)
  4. Two laser scanners Hokuyo URG 04LX
  5. A colour camera FireI400 (resolution 640×480)
  6. An odometry system based on encoders applied to the rear wheels

Main goals of the LURCH project are:

  1. Add sensors and robotic functionalities to the powered wheelchair.
  2. Add various command interfaces, such as Joypad wireless, speech command, facial muscle control, brain-computer interface.
  3. Semi-autonomous navigation with collision and obstacle avoidance.
  4. Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:

  1. Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
  2. Obstacle sensing using planar scanner lasers.
  3. Basic collision and obstacle avoidance behaviours.
  4. Indoor localization by a fiducial marker system
  5. Path planning and basic autonomous navigation.
  6. Brain-computer interface driving system

NOTE: AIRWiki users can find operative information to use the Lurch robot in the Discussion tab associated to this page.

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

Restyling

Lurch has been restyled in June 2010, see here the upgrades...

New Board for Joystick Hack!

Diego Consolaro during his thesis time has written 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 thesis (in Italian).

In the 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 Safety norms will be followed.
  • Use of soldering iron. Standard safety measures described in Safety norms will be followed.
  • Transportation of heavy loads (e.g. robots). Standard safety measures described in Safety norms will be followed.
  • Robot testing. Standard safety measures described in Safety norms will be followed.