AMIGO Head

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| Copyright Technische Universiteit Eindhoven 2011.
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| This documentation describes Open Hardware and is licensed under the <br>
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This documentation describes Open Hardware and is licensed under the <br>
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CERN OHL v. 1.1. <br>
 
CERN OHL v. 1.1. <br>
 
You may redistribute and modify this documentation under the terms of the <br>
 
You may redistribute and modify this documentation under the terms of the <br>

Revision as of 20:19, 30 November 2011

Part Links
Author
TU/e
CST Group, TU/e
rop@tue.nl
CAD Files
Inventor
STEP
Electrical Drawings
(Coming Soon)

AMIGO: Head | Arms | Torso | Base


Contents


Part Summary

Microsoft's Kinect is used as a head to get a visualization of the world.

This documentation describes Open Hardware and is licensed under the

CERN OHL v. 1.1.
You may redistribute and modify this documentation under the terms of the
CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed
WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF
MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A
PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable
conditions


Overview

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.

Figure 1: Assembly of AMIGO's Head

Mechanics

Assembly of the Head

Figure 2 shows AMIGO's head.


Figure 2: Exploded view of 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.


Figure 3: Mounting of the Head to the torso

Electronics

(Coming Soon)

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