Difference between revisions of "RoCKIn2014"

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==RoCKIn Project Description==
+
=RoCKIn Project Description=
  
 
* '''Project Name:'''  
 
* '''Project Name:'''  
 
[[Image:LogoRockin.png|130px]]
 
[[Image:LogoRockin.png|130px]]
 +
 +
* '''Next Challenge'''
 +
[http://rockinrobotchallenge.eu/rockin2014.php RoCKIn@home Toulouse]
  
 
* '''Official Web Page'''
 
* '''Official Web Page'''
 
  [http://rockinrobotchallenge.eu/home.php RoCKIn@home]  
 
  [http://rockinrobotchallenge.eu/home.php RoCKIn@home]  
 +
 +
=Watermelon Project: Team Description=
  
 
* '''Project Codename'''  
 
* '''Project Codename'''  
−
  Watermelon
+
  Watermelon Project
  
 
* '''Advisor:'''  
 
* '''Advisor:'''  
Line 14: Line 19:
  
 
* '''Staff:'''  
 
* '''Staff:'''  
−
  Technical software: Fernando Casado
+
  Technical- Manipulation/Grasping, Simulation: Fernando Casado
−
  Technical software: Víctor Rodríguez  
+
  Technical- Navigation: Rubén Rodríguez
−
  Technical software: Francisco Lera
+
  Technical- SW Integration, Middleware, Perception: Francisco Martín Rico
−
  Technical hardware: Carlos Rodríguez
+
Technical- SW Integration, HRI Dialogue, Team Leader: Francisco Lera
 +
  Technical- Hardware: Carlos Rodríguez
 +
 
 +
* '''Former Staff:'''
 +
 
 +
Technical-Perception: Víctor Rodríguez  
  
 
* '''Other Information:'''  
 
* '''Other Information:'''  
−
* '''Academic Year:''' 2013-2014
+
'''Academic Year:''' 2013-2014
−
* '''SVN Repositories:''' soon...  
+
'''SVN Repositories:''' soon...  
−
* '''Tags:''' Augmented Reality, Elderly people, Remote-Assistance
+
'''Tags:''' Augmented Reality, Elderly people, Remote-Assistance
−
* '''Technology:''' ROS, PCL, c++, svn, OpenCV, cmake, OpenGL, Qt, Aruco,  
+
'''Technology:''' ROS, PCL, c++, svn, OpenCV, cmake, OpenGL, Qt, Aruco,  
−
* '''State:''' Development
+
'''State:''' Development
  
−
== Project Summary ==
+
=Project Summary=
  
 
This challenge focuses on domestic service robots. The project aims to create robots with enhanced networking and cognitive abilities. They should be able to perform useful tasks such as helping the impaired and the elderly (one of the main goals of our group).  
 
This challenge focuses on domestic service robots. The project aims to create robots with enhanced networking and cognitive abilities. They should be able to perform useful tasks such as helping the impaired and the elderly (one of the main goals of our group).  
Line 32: Line 42:
 
In the initial stages of the competition, individual robots will begin by overcoming basic individual tasks, such as navigating through the rooms of a house, manipulating objects or recognizing faces, and then coordinating to handle house-keeping tasks simultaneously, some of them under natural interaction with humans.  
 
In the initial stages of the competition, individual robots will begin by overcoming basic individual tasks, such as navigating through the rooms of a house, manipulating objects or recognizing faces, and then coordinating to handle house-keeping tasks simultaneously, some of them under natural interaction with humans.  
  
−
==Robot==
+
=RoCKIn Evolution=
  
−
We want to take part in RoCKIn with the platform developed during the last two years in the Catedra Telefónica-ULE.
+
[[RoCKIn2014Camp | Rome - RoCKIn Camp 2014]]
  
−
[[Image:RobotWatermelon0.JPG|thumb|130px|MYRABot robot.]]
+
=Robot=
  
−
===Robot Hardware===
+
We want to take part in RoCKIn with the platform developed during the last two years in the Catedra Telefónica-ULE.
  
−
# iRobot Roomba 520
+
[[Image:RoCKIn_robot.JPG|thumb|230px|MYRABot robot.]]
−
# Dinamixel Arm (5x12a)
 
−
# Wooden frame (yes, it is made of wood)
 
−
# Notebook (Atom processor) (the display has been taken apart from the main body)
 
−
# Kinect
 
−
# Arduino Mega
 
  
−
=== Robot Software ===
+
==Robot Hardware==
  
−
# ROS (robot control)
+
{| style="color:black; background-color:#ffffcc;" cellpadding="8" cellspacing="0" border="1"
−
# MYRA (C/C++, ArUCo, Qt, openCV)
+
| Component
 +
| Model
 +
| Description
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Frame
 +
| n/a
 +
| Poplar laminated wood
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Computer
 +
| LG X110 -
 +
| Notebooks. Atom processors
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Controllers
 +
| (a)Arduino 2560, (b)USB2serial
 +
| (a)arm, range sensors, (b)roomba
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Base
 +
| Roomba 520
 +
| Vacuum cleaner
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Ultrasound Sensors
 +
| Maxsensor mb1220 (x5)
 +
| Range: 7 meters
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| RGB sensor
 +
| Logitech
 +
| Webcam
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| RGBD sensors
 +
| Kinect, Asus Xtion
 +
|
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Battery
 +
| standard
 +
| 12V, 7A
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Arm (Actuator)
 +
| Dinamixel AX12 servos (x5)
 +
| Joints and servomotors from Bioloid
 +
|}
  
−
==Proposal==
+
==Robot Software==
  
−
We want to develop and deploy minimal functional abilities to be part of RoCKIn 2014.
+
{| style="color:black; background-color:#ffffcc;" cellpadding="8" cellspacing="0" border="1"
 +
| Option
 +
| Control Software
 +
| Version
 +
| Description
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Robot
 +
| ROS
 +
| Fuerte
 +
|
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Simulator
 +
| Gazebo and ROS
 +
| Gazebo 1.19, ROS - HYDRO
 +
|
 +
|}
  
−
* Navigation
+
=Videos TDP2014=
−
* Mapping
 
−
* People recognition
 
−
* Person tracking
 
−
* Object recognition
 
−
* Object manipulation
 
−
* Speech recognition
 
−
* Gesture recognition
 
−
* Cognition
 
  
−
We are going to separate the development in three phases:
+
==MoveIt!==
  
−
# Phase I: Initial Setup
+
Test 1:  
−
# Phase II: Integration and architecture
 
−
# Phase III: Platform test
 
−
# Phase IV: Improvements and complex tasks
 
−
## Technical Challenge: Furniture-type Object perception
 
−
## Open Challenge: Exhibit and demonstrate the most important (scientific) achievements
 
  
−
===Phase I: Initial Setup===
+
<videoflash>Y9dv5mEiNK0</videoflash>
  
−
[[RoCKIn2014PhaseI | Outline]]: Tasks developed in this phase
+
<videoflash>ODUJIuZn5ew</videoflash>
  
−
===Phase II: Integration and Architecture===
+
==Arm Control==
  
−
[[RoCKIn2014PhaseII | Outline]]: Tasks developed in this phase
+
Arm control with Xbox Joystick
  
−
===Phase III: Platform test===
+
<videoflash>00As38JDjLA</videoflash>
  
−
==== Simulator ====
+
=Acknowledgments=
−
WARNING: This part is still in Spanish, please feel free to ask if you have any doubt.
 
  
−
[[Modelo_para_simulaci%C3%B3n_MYRAbot_%28urdf%2Bgazebo%29 | Platform for gazebo]]
+
'''Organizations:'''
  
−
==== Hardware ====
+
[http://www.fablableon.org/ Fab-Lab León]
−
<wikiflv width="300" height="250" logo="true">/videos/Test1.flv</wikiflv>
 
  
−
<wikiflv width="300" height="250" logo="true">/videos/Test2.flv</wikiflv>
+
[http://catedratelefonica.unileon.es/ Cátedra Telefónica-Unileon]
  
−
[[Image:ImageTidy2.jpg|300px]]
+
'''People:'''
−
[[Image:ImageTidy.jpg|286px]]
 
−
 
 
−
==Non-Critical (but to-do)==
 
−
 
 
−
# Android/iOS Teleoperation
 
−
# Desktop Qt interface (WIP)
 
−
 
 
−
==RoCKIn Camp 2014==
 
−
 
 
−
These were the highlight during the camp:
 
−
 
 
−
====Migration to ROS hydro====
 
−
 
 
−
[[Image:GazeboHydro.png|600px]]
 
−
 
 
−
====Object Recognition====
 
−
<videoflash>Ioz-x2JyxGQ</videoflash>
 
−
 
 
−
====MoveIt!!====
 
−
<videoflash>6GZv_pZFRYk</videoflash>
 
  
 +
Alvaro Botas (MYRA software)
  
−
==Acknowledgments==
+
Joaquín Olmo (First design of MYRABot prototype)
  
−
'''Organizations:'''
+
Julián Orfo (Navigation in simulator environment)
  
−
[http://www.fablableon.org/ Fab-Lab León]
+
=Sponsorship=
  
−
[http://catedratelefonica.unileon.es/ Cátedra Telefónica-Unileon]
+
[[Image:Sponsor1.png|830px]]
  
−
'''People:'''
+
If you want to contribute financially to the project, please contact us.
  
−
Alvaro Botas (MYRA software)
+
=Wishlist=
  
−
Joaquín Olmo (First MYRABot prototype designer)
+
<span style="color:#009000"> &#9745; </span> Roomba battery
  
−
Julián Orfo (Navigation Simulation)
+
<span style="color:#ff0000"> &#9744; </span> Arduino Mega (x2)
  
−
==Wishlist==
+
<span style="color:#ff0000"> &#9744; </span> Roomba base (520, 560)
  
−
* Roomba battery
+
<span style="color:#ff0000"> &#9744; </span> Ultrabook
−
* Arduino Mega (x2)
 
−
* Roomba base (520, 560)
 

Latest revision as of 11:33, 14 February 2015

RoCKIn Project Description

  • Project Name:

LogoRockin.png

  • Next Challenge
RoCKIn@home Toulouse
  • Official Web Page
RoCKIn@home

Watermelon Project: Team Description

  • Project Codename 
Watermelon Project
  • Advisor: 
Vicente Matellán Olivera
  • Staff: 
Technical- Manipulation/Grasping, Simulation: Fernando Casado
Technical- Navigation: Rubén Rodríguez
Technical- SW Integration, Middleware, Perception: Francisco Martín Rico
Technical- SW Integration, HRI Dialogue, Team Leader: Francisco Lera
Technical- Hardware: Carlos Rodríguez
  • Former Staff: 
Technical-Perception: Víctor Rodríguez
  • Other Information: 
Academic Year: 2013-2014
SVN Repositories: soon... 
Tags: Augmented Reality, Elderly people, Remote-Assistance
Technology: ROS, PCL, c++, svn, OpenCV, cmake, OpenGL, Qt, Aruco, 
State: Development

Project Summary

This challenge focuses on domestic service robots. The project aims to create robots with enhanced networking and cognitive abilities. They should be able to perform useful tasks such as helping the impaired and the elderly (one of the main goals of our group).

In the initial stages of the competition, individual robots will begin by overcoming basic individual tasks, such as navigating through the rooms of a house, manipulating objects or recognizing faces, and then coordinating to handle house-keeping tasks simultaneously, some of them under natural interaction with humans.

RoCKIn Evolution

Rome - RoCKIn Camp 2014

Robot

We want to take part in RoCKIn with the platform developed during the last two years in the Catedra Telefónica-ULE.

MYRABot robot.

Robot Hardware

Component Model Description
Frame n/a Poplar laminated wood
Computer LG X110 - Notebooks. Atom processors
Controllers (a)Arduino 2560, (b)USB2serial (a)arm, range sensors, (b)roomba
Base Roomba 520 Vacuum cleaner
Ultrasound Sensors Maxsensor mb1220 (x5) Range: 7 meters
RGB sensor Logitech Webcam
RGBD sensors Kinect, Asus Xtion
Battery standard 12V, 7A
Arm (Actuator) Dinamixel AX12 servos (x5) Joints and servomotors from Bioloid

Robot Software

Option Control Software Version Description
Robot ROS Fuerte
Simulator Gazebo and ROS Gazebo 1.19, ROS - HYDRO

Videos TDP2014

MoveIt!

Test 1:

<videoflash>Y9dv5mEiNK0</videoflash>

<videoflash>ODUJIuZn5ew</videoflash>

Arm Control

Arm control with Xbox Joystick

<videoflash>00As38JDjLA</videoflash>

Acknowledgments

Organizations:

Fab-Lab León

Cátedra Telefónica-Unileon

People:

Alvaro Botas (MYRA software)

Joaquín Olmo (First design of MYRABot prototype)

Julián Orfo (Navigation in simulator environment)

Sponsorship

Sponsor1.png

If you want to contribute financially to the project, please contact us.

Wishlist

☑ Roomba battery

☐ Arduino Mega (x2)

☐ Roomba base (520, 560)

☐ Ultrabook

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