Vizzy

Vizzy is a nice and new robot. Please put here a nice photo of me.

Plan

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 original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 . We follow the same procedure, uncompressing the file in the folder /usr/local/src/robot/

path location of the driver files

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