AMIGO Head
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− | | This documentation describes Open Hardware and is licensed under the <br> | + | | Copyright Technische Universiteit Eindhoven 2011. <br> |
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+ | This documentation describes Open Hardware and is licensed under the <br> | ||
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> | ||
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conditions <br> | conditions <br> | ||
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+ | = Part Summary = | ||
+ | Microsoft's Kinect is used as a head to get a visualization of the world. | ||
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+ | * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] | ||
+ | * License: CERN OHL v.1.1 | ||
* Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] | * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] | ||
* Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' | * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' |
Revision as of 09:20, 1 December 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 |
Copyright Technische Universiteit Eindhoven 2011.
|
Part Summary
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://rop.wtb.tue.nl/svn/rop/AMIGO/Head/
- Software: www.ros.org (Coming Soon)
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.
Mechanics
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.
Electronics
(Coming Soon)