|CST Group, TU/e|
Microsoft's Kinect is used as a head to get a visualization of the world.
- Author: CST Group, TU/e
- License: CERN OHL v.1.1
- Repository: https://robotics.wtb.tue.nl/svn/rop/AMIGO/Head
- Software: http://www.ros.org/wiki/Robots/AMIGO
In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1.
- Dimensions (HxDxW): 16 x 6 x 16 cm
- Weight: +/- 1 kg
- Horizontal field of view: 58 degrees
- Vertical field of view: 45 degrees
- Image sensor: Resolution VGA (640 x 480)
- Frame Rate 30 fps
- Depth sensor: Resolution VGA (640 x 480)
- Frame Rate: 30 fps
- Range: 0.8 - 3.5 m
- Spatial x/y resolution: 3 mm (@ 2m distance)
- Depth z resolution: 1 cm (@ 2m distance)
- ROS (Robot Operating System)
- Programming: C++
- RS48 via EtherCAT stack
Degrees of Freedom
Pan Tilt Head
- Pan: 300 degrees
- Tilt: 120 degrees
Neck - 2x Dynamixel RX-28
Assembly of the Head
Figure 2 shows AMIGO's head.
Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel.
Copyright Technische Universiteit Eindhoven 2011.
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1.
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