Difference between revisions of "RoCKIn2014"

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==RoCKIn Project Description==
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=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:'''  
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  Technical- Navigation: Rubén Rodríguez
 
  Technical- Navigation: Rubén Rodríguez
 
  Technical- SW Integration, Middleware, Perception: Francisco Martín Rico
 
  Technical- SW Integration, Middleware, Perception: Francisco Martín Rico
−
  Technical- SW Integration, HRI Dialogue: Francisco Lera
+
  Technical- SW Integration, HRI Dialogue, Team Leader: Francisco Lera
 
  Technical- Hardware: Carlos Rodríguez
 
  Technical- Hardware: Carlos Rodríguez
  
Line 23: Line 28:
  
 
  Technical-Perception: Víctor Rodríguez  
 
  Technical-Perception: Víctor Rodríguez  
−
 
−
 
  
 
* '''Other Information:'''  
 
* '''Other Information:'''  
Line 33: Line 36:
 
  '''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 39: 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.  
  
−
 
+
=RoCKIn Evolution=
−
==RoCKIn Evolution==
 
  
 
[[RoCKIn2014Camp | Rome - RoCKIn Camp 2014]]
 
[[RoCKIn2014Camp | Rome - RoCKIn Camp 2014]]
  
−
[[RoCKIn2014TDP | Toulusse - RoCKIn 2014 - Team Description Paper (TDP)]]
+
=Robot=
−
 
 
−
==Robot==
 
  
 
We want to take part in RoCKIn with the platform developed during the last two years in the Catedra Telefónica-ULE.  
 
We want to take part in RoCKIn with the platform developed during the last two years in the Catedra Telefónica-ULE.  
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[[Image:RoCKIn_robot.JPG|thumb|230px|MYRABot robot.]]
 
[[Image:RoCKIn_robot.JPG|thumb|230px|MYRABot robot.]]
  
−
===Robot Hardware===
+
==Robot Hardware==
−
 
 
−
# iRobot Roomba 520
 
−
# 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
 
  
−
{| style="color:green; background-color:#ffffcc;" cellpadding="8" cellspacing="0" border="1"  
+
{| style="color:black; background-color:#ffffcc;" cellpadding="8" cellspacing="0" border="1"  
 
| Component
 
| Component
 
| Model
 
| Model
 
| Description
 
| Description
−
|-
+
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 
| Frame
 
| Frame
 
| n/a
 
| n/a
 
| Poplar laminated wood
 
| 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
 +
|}
 +
 +
==Robot Software==
 +
 +
{| 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
 +
|
 
|}
 
|}
  
−
=== Robot Software ===
+
=Videos TDP2014=
  
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# ROS (robot control)
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==MoveIt!==
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# MYRA (C/C++, ArUCo, Qt, openCV)
 
  
−
==Videos==
+
Test 1:
  
 +
<videoflash>Y9dv5mEiNK0</videoflash>
  
 +
<videoflash>ODUJIuZn5ew</videoflash>
  
−
==Acknowledgments==
+
==Arm Control==
 +
 
 +
Arm control with Xbox Joystick
 +
 
 +
<videoflash>00As38JDjLA</videoflash>
 +
 
 +
=Acknowledgments=
  
 
'''Organizations:'''
 
'''Organizations:'''
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Joaquín Olmo (First design of MYRABot prototype)
 
Joaquín Olmo (First design of MYRABot prototype)
  
−
Julián Orfo (Navigation Simulation)
+
Julián Orfo (Navigation in simulator environment)
−
 
 
  
−
==Sponsorship==
+
=Sponsorship=
  
−
[[Image:Sponsor.png|830px]]
+
[[Image:Sponsor1.png|830px]]
  
 
If you want to contribute financially to the project, please contact us.
 
If you want to contribute financially to the project, please contact us.
  
−
===Wishlist===
+
=Wishlist=
  
 
<span style="color:#009000"> &#9745; </span> Roomba battery
 
<span style="color:#009000"> &#9745; </span> Roomba battery
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<span style="color:#ff0000"> &#9744; </span> Roomba base (520, 560)
 
<span style="color:#ff0000"> &#9744; </span> Roomba base (520, 560)
 +
 +
<span style="color:#ff0000"> &#9744; </span> Ultrabook

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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