Bioloid (20 DOF) with N900 head

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
26 postsPage 2 of 21, 2
26 postsPage 2 of 21, 2

Updated

Post by sascha » Tue Apr 05, 2011 8:45 pm

Post by sascha
Tue Apr 05, 2011 8:45 pm

Hi, I updated my mobile phone robot. The batteries were moved to the feet and the torso was updated. Phone has been rotated compared to initial design.

Following software runs now on the N900:
- ROS
- OpenCV
- gstreamer (640x480 H.264)
- fcam (used intitially for autofocus etc)
- VNC / SSH (for remote access)

I wrote an ROS node for the N900 accelerometer and played a little bit with OpenCV. The face detection speed on the N900 was a bit disappointing though (0.25 fps) and I decided to stream the video to my PC (using gstreamer for which exists an ROS integration). Streaming causes only about 20% CPU utilization (640x480 resolution / H.264 / 1500 KB/s) on the N900.
Less complex tasks like color based tracking should be able to run on the robot itself with acceptable speed.

Next thing I will work on is an URDF model for ROS.

Here are some pics:
Image
Image
Image
Image
Hi, I updated my mobile phone robot. The batteries were moved to the feet and the torso was updated. Phone has been rotated compared to initial design.

Following software runs now on the N900:
- ROS
- OpenCV
- gstreamer (640x480 H.264)
- fcam (used intitially for autofocus etc)
- VNC / SSH (for remote access)

I wrote an ROS node for the N900 accelerometer and played a little bit with OpenCV. The face detection speed on the N900 was a bit disappointing though (0.25 fps) and I decided to stream the video to my PC (using gstreamer for which exists an ROS integration). Streaming causes only about 20% CPU utilization (640x480 resolution / H.264 / 1500 KB/s) on the N900.
Less complex tasks like color based tracking should be able to run on the robot itself with acceptable speed.

Next thing I will work on is an URDF model for ROS.

Here are some pics:
Image
Image
Image
Image
sascha offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 29
Joined: Fri Nov 17, 2006 1:00 am

Post by danialbehzadi » Fri Aug 05, 2011 10:02 pm

Post by danialbehzadi
Fri Aug 05, 2011 10:02 pm

Hey, briliant idea :wink:
Did you connect servos directly to the N900? How?
Hey, briliant idea :wink:
Did you connect servos directly to the N900? How?
danialbehzadi offline
Newbie
Newbie
Posts: 1
Joined: Fri Aug 05, 2011 6:41 pm

Post by i-Bot » Fri Aug 05, 2011 10:15 pm

Post by i-Bot
Fri Aug 05, 2011 10:15 pm

I think the answer is give earlier in the thread.

BTW: The N900 is connected to the USB to Dynanixel adapter, but I removed the Serial portion, since I don't need it.
I think the answer is give earlier in the thread.

BTW: The N900 is connected to the USB to Dynanixel adapter, but I removed the Serial portion, since I don't need it.
i-Bot offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 1142
Joined: Wed May 17, 2006 1:00 am

Re: Updated

Post by torne » Mon Aug 08, 2011 10:57 am

Post by torne
Mon Aug 08, 2011 10:57 am

Salut Sascha,
bonne idée les batterie dans les pieds.
j'aurai voulu savoir si le robot arrive a marcher sans difficultées
avec le poids des batteries.
pourriez vous mettre une ou deux photos de votre montage des pieds.
Merci :D
Salut Sascha,
bonne idée les batterie dans les pieds.
j'aurai voulu savoir si le robot arrive a marcher sans difficultées
avec le poids des batteries.
pourriez vous mettre une ou deux photos de votre montage des pieds.
Merci :D
torne offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 44
Joined: Fri Dec 03, 2010 8:30 pm
Location: France

Foot photos

Post by sascha » Sun Aug 21, 2011 9:11 pm

Post by sascha
Sun Aug 21, 2011 9:11 pm

Hi torne,

here are some close-up shots of the lipo foots.

http://robosavvy.com/Builders/sascha/photo-foot01.JPG
http://robosavvy.com/Builders/sascha/photo-foot02.JPG
http://robosavvy.com/Builders/sascha/photo-foot03.JPG

Mounting was quite easy, no problem a small drill can't solve. :wink:

Regards, Sascha
Hi torne,

here are some close-up shots of the lipo foots.

http://robosavvy.com/Builders/sascha/photo-foot01.JPG
http://robosavvy.com/Builders/sascha/photo-foot02.JPG
http://robosavvy.com/Builders/sascha/photo-foot03.JPG

Mounting was quite easy, no problem a small drill can't solve. :wink:

Regards, Sascha
sascha offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 29
Joined: Fri Nov 17, 2006 1:00 am

Re: Foot photos

Post by torne » Mon Aug 22, 2011 2:09 pm

Post by torne
Mon Aug 22, 2011 2:09 pm

Salut Sascha,
Merci pour les photos ,je vais faire le montage
:wink:
Torne
Salut Sascha,
Merci pour les photos ,je vais faire le montage
:wink:
Torne
torne offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 44
Joined: Fri Dec 03, 2010 8:30 pm
Location: France

Post by limor » Mon Aug 22, 2011 11:26 pm

Post by limor
Mon Aug 22, 2011 11:26 pm

Great work! thanks for posting.
What materials did you use to make that nice cut bended(?) plastic shell ?

btw: if you need more better closed-loop servo response rates than 25/sec for 20 servos, consider alternative firmware for the AX12 (such as Morpheus)
Great work! thanks for posting.
What materials did you use to make that nice cut bended(?) plastic shell ?

btw: if you need more better closed-loop servo response rates than 25/sec for 20 servos, consider alternative firmware for the AX12 (such as Morpheus)
limor offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 1845
Joined: Mon Oct 11, 2004 1:00 am
Location: London, UK

Mobile phone holder

Post by sascha » Tue Aug 23, 2011 9:22 am

Post by sascha
Tue Aug 23, 2011 9:22 am

The shell holding the N900 is 2mm carbon fiber. I used memory carbon, which can be formed in 2 dimensions after heating up.

The upper part of the mobile phone is just covered with a (carbon pattern) adhesive film, to match the colour of the actual bracket.
The shell holding the N900 is 2mm carbon fiber. I used memory carbon, which can be formed in 2 dimensions after heating up.

The upper part of the mobile phone is just covered with a (carbon pattern) adhesive film, to match the colour of the actual bracket.
sascha offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 29
Joined: Fri Nov 17, 2006 1:00 am

Post by peeer » Sat Sep 10, 2011 10:04 am

Post by peeer
Sat Sep 10, 2011 10:04 am

.I recently came across your article and have been reading along.
I want to express my admiration of your writing skill and ability to make readers read from the beginning to the end.
I would like to read newer posts and to share my thoughts with you.
.I recently came across your article and have been reading along.
I want to express my admiration of your writing skill and ability to make readers read from the beginning to the end.
I would like to read newer posts and to share my thoughts with you.
peeer offline
Newbie
Newbie
Posts: 2
Joined: Sat Sep 10, 2011 9:56 am

Post by shenglu » Wed Oct 26, 2011 2:44 am

Post by shenglu
Wed Oct 26, 2011 2:44 am

Charming robot toys and if have a chance I'LL buy one too!
Charming robot toys and if have a chance I'LL buy one too!
shenglu offline
Newbie
Newbie
Posts: 1
Joined: Wed Oct 26, 2011 2:40 am

Post by Liya08 » Thu Feb 16, 2012 9:16 am

Post by Liya08
Thu Feb 16, 2012 9:16 am

Thanks for proviing the photos! I guess the idea is awesome!
What materials did you use to make that nice cut bended(?) plastic shell ?
Thanks for proviing the photos! I guess the idea is awesome!
What materials did you use to make that nice cut bended(?) plastic shell ?
Liya08 offline
Newbie
Newbie
Posts: 3
Joined: Thu Feb 16, 2012 9:08 am

Previous
Previous
26 postsPage 2 of 21, 2
26 postsPage 2 of 21, 2
cron