Vizzy: Difference between revisions

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(clean up Vizzy page, point to ROBOT 2015 article and new wiki @ GitHub)
 
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Vizzy is a nice and new robot.
Vizzy is a wheeled humanoid robot with an anthropomorphic upper torso. It combines easy mobility, grasping ability, human-like visual perception, eye-head movements and arm gestures. The humanoid appearance improves user acceptance and facilitates interaction. The lower body mobile platform is able to navigate both indoors and outdoors.
Please put here a nice photo of me.


For more information refer to:


=Plan=
* Plinio Moreno, Ricardo Nunes, Rui Figueiredo, Ricardo Ferreira, Alexandre Bernardino, José Santos-Victor, Ricardo Beira, Luís Vargas, Duarte Aragão, and Miguel Aragão. ''Vizzy: A Humanoid on Wheels for Assistive Robotics''. In: Iberian Conference on Robotics (ROBOT). 2015. DOI: 10.1007/978-3-319-27146-0_2
 
* https://github.com/vislab-tecnico-lisboa/vizzy/wiki
'''1week - 29May'''
 
Head cabling done
 
Motor control board fixation projected
 
'''2week'''
 
Definition of computation power, check if iCub version is enough
 
'''3week'''
 
One shoulder/arm + hand cabled to test
 
Control board supports built and ready
 
Shell completly projected
 
'''4week'''
 
 
 
 
=Hardware=
 
==Motors==
 
Missing motors for the second hand
 
==Shell==
 
Still missing the project of one connection
 
 
==Cabling==
 
Where to connect the cameras???? Sensors???
 
==Computation power==
 
'''Debian Linux installation'''
 
Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)
 
  Linux version 2.6.24-etchnhalf.1-686
 
The repositories of this version are not online anymore, so in order to install the system, you should:
 
1) Download the netinstaller and the DVDs containing the packages [http://www.debian.org/releases/etch/debian-installer/]
2) During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you can add manually all the packages you need.
 
 
'''Installation of PCAN bus driver'''
 
The precompiled driver
 
 
'''Start up script for PCAN bus driver'''
 
Add the following lines to /etc/rc.local script:
 
  declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
  bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"
 
The lines above allow the PLX module loading during the pc104 boot.
 
'''Enviroment variables for running the iCubInterface'''
 
Add the following lines to /etc/bash.bashrc (as root)
 
    export ICUB_DIR=/iCub
    export ICUB_ROOT=/iCub
    export YARP_DIR=/yarp2
    export YARP_ROOT=/yarp2
 
==Motor Control Boards==
 
===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done
 
===Torso and Shoulder===
 
status electric specification: projected, one may be short in current
status fixation: projected, under verification
 
===Hands===
 
status electric specification: projected
status fixation: under project
 
==Battery==
 
Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm
 
Charger:?
 
 
==Segway==
 
Software to be developed
 
Payload is over the limit, check
 
==Sensors==
 
===Cameras===
 
Dragonfly2
 
===Inertial sensor===
 
XSens
 
===Expressions===
 
Shapes, aesthetics, done
 
Under definition supports, electronic, ...
 
 
===Tactile sensors===
 
Still some parts missing, magnets
 
Sensors bought
 
Electronic board, waiting for PCB, ...
 
Software under development
 
http://www.pressureprofile.com/products-fingertps
 
===Laser===
 
Kyoko ???
 
Fixation, unknown


[[Image:Vizzy.jpg‎|right]]


[[Category:Robots]]
[[Category:Robots]]
[[Category:Vislab]]
[[Category:Vislab]]

Latest revision as of 14:12, 22 July 2016

Vizzy is a wheeled humanoid robot with an anthropomorphic upper torso. It combines easy mobility, grasping ability, human-like visual perception, eye-head movements and arm gestures. The humanoid appearance improves user acceptance and facilitates interaction. The lower body mobile platform is able to navigate both indoors and outdoors.

For more information refer to:

  • Plinio Moreno, Ricardo Nunes, Rui Figueiredo, Ricardo Ferreira, Alexandre Bernardino, José Santos-Victor, Ricardo Beira, Luís Vargas, Duarte Aragão, and Miguel Aragão. Vizzy: A Humanoid on Wheels for Assistive Robotics. In: Iberian Conference on Robotics (ROBOT). 2015. DOI: 10.1007/978-3-319-27146-0_2
  • https://github.com/vislab-tecnico-lisboa/vizzy/wiki
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