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CogRobot
the
Team CogRobot:
Filip Birčanin,
Konstantin Leidermann,
Jeanna Nikolov-Ramirez,
Lennart Paar
29. 6. 2015, Unive...
OUTLINE
•  The Plan
•  The Architecture
•  The Process
•  Hardware
•  Technical Specifications
•  Image Capture
•  Code
• ...
THE PLAN
•  Build a robot that detects and
item in a room and picks it up
•  Detecting an item
•  Discriminating task (blu...
THE ARCHITECTURE
NXT Brick GoPro
Laptop
Nxt-python[1]
Gopro-
Python[2]
Get sensor/motor
data (Bluetooth)
Send Motor Comman...
MARR’S LEVELS
THE PROCESS
•  Camera Integration
•  Algorithm for Object Detection
•  Random Walk and Navigation
•  Find out wheel speeds...
BEGINNINGS
Requirements:
•  Camera should be centered in
front of the wheels
•  Ball lifting mechanism purely
mechanical
•...
MEETINGS
5 Meetings
HARDWARE
SOFTWARE SPECIFICATIONS
•  Mac OS 10.8
•  Python 2.7
•  OpenCV
•  Mindstorms NXT
IMAGE CAPTURE
CODE
CONNECT
PID CONTROLLER
A PID Controller is a common technique used to control a wide
variety of machinery including vehicles, robo...
CONTROL ALGORITHM
TRIALS & DEBUGGING
SH&%#*^#%T HAPPENS
LENNI LIKES BLUE
19
LESSONS LEARNED
•  Building robots is fun.
•  It’s way more difficult than expected.
•  Installing the framework is mor...
20
THANK YOU!
Questions?
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Lenni, the CogRobot

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Project report on the development of a robot that autonomously picks up a blue/red ball.
All photos and videos are copyrighted by Jeanna Nikolov-Ramirez and/or Konstantin Leidermann.

Published in: Engineering
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Lenni, the CogRobot

  1. 1. CogRobot the Team CogRobot: Filip Birčanin, Konstantin Leidermann, Jeanna Nikolov-Ramirez, Lennart Paar 29. 6. 2015, University Vienna Lenni Intro2Science
  2. 2. OUTLINE •  The Plan •  The Architecture •  The Process •  Hardware •  Technical Specifications •  Image Capture •  Code •  PID Controller •  Trials and Debugging •  Lessons Learned 2
  3. 3. THE PLAN •  Build a robot that detects and item in a room and picks it up •  Detecting an item •  Discriminating task (blue or red) •  Exploration (Random walk) •  Navigation •  Lifting up device (embodied, maybe even just a paper device on a physical level)
  4. 4. THE ARCHITECTURE NXT Brick GoPro Laptop Nxt-python[1] Gopro- Python[2] Get sensor/motor data (Bluetooth) Send Motor Commands (Bluetooth) Get video feed (http, wireless) Integrate and calculate motor
  5. 5. MARR’S LEVELS
  6. 6. THE PROCESS •  Camera Integration •  Algorithm for Object Detection •  Random Walk and Navigation •  Find out wheel speeds according to approaching of the goal •  Feedback Control (power values for different motors) •  Mechanical Lifting up Mechanism
  7. 7. BEGINNINGS Requirements: •  Camera should be centered in front of the wheels •  Ball lifting mechanism purely mechanical •  Ball should disappear behind camera PEAS description •  P: Successfully picking up a ball •  E: deterministic, partially observable, size not fixed, one or two red/blue objects •  A: Wheels, Grabber •  S: Camera, (Bumpers?)
  8. 8. MEETINGS 5 Meetings
  9. 9. HARDWARE
  10. 10. SOFTWARE SPECIFICATIONS •  Mac OS 10.8 •  Python 2.7 •  OpenCV •  Mindstorms NXT
  11. 11. IMAGE CAPTURE
  12. 12. CODE
  13. 13. CONNECT
  14. 14. PID CONTROLLER A PID Controller is a common technique used to control a wide variety of machinery including vehicles, robots and even rockets.
  15. 15. CONTROL ALGORITHM
  16. 16. TRIALS & DEBUGGING
  17. 17. SH&%#*^#%T HAPPENS
  18. 18. LENNI LIKES BLUE
  19. 19. 19 LESSONS LEARNED •  Building robots is fun. •  It’s way more difficult than expected. •  Installing the framework is more complicated than running it. These tasks are insanely platform dependent! •  It needs a lot of installing of libraries and packages to actually be able to start the work. •  Difficulty testing with 1 brick and 4 people. •  NXT doesn’t like Yosemite. •  Red fingernails are the same to a robot as a red ball. Everything yellowish seems to be red, too. •  Each task needs a motor. •  Weight and volume matter big time in objects. •  Pairing with Bluetooth sucks. •  Batteries run out quickly. •  If it isn’t tested, it doesn’t work. •  Lots of trial and error. http://tts.imtranslator.net/WW49
  20. 20. 20 THANK YOU! Questions?

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