remote controlled biped - nyu tandon school of...
TRANSCRIPT
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S
Final Project
Remote Controlled
BRAT Biped
Amartya Barua
Jose Antonio De Garcia Gomez
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Features
S A biped controlled over a network using a smartphone or
computer
S Live feed directly from a camera mounted on the chassis
S Take advantage of multiple processors running
simultaneously
S Control over wifi
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Components
S Raspberry Pi
S Pi Camera Board
S Parallax Propeller
S 6 Servos
S Arduino
S Wifly Shield
S USB wifi adapter
S Battery packs
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Design Overview
S The system consists of the following subsystems:
S Live feed – uses a raspberry pi to stream footage from
raspberry pi camera board
S Biped – uses parallax propeller to move the actuators based
on the user input
S TCP communication – uses arduino + wifly shield to
communicate with a smartphone or computer
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How Does It Work
6x HSS -
422 Servo
Propeller
BOE
Code (SIMPLE IDE)
Arduino + wifly
BRAT Biped
Chasis
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Mechanical Design
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Raspberry Pi
S Uses pi camera board to
capture video
S Stream the video using
gstreamer1.0 over port 5000
S The commands are collated
into a single script file and run
continuously after the initial
bootup
Network
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Shell Script
S set +H – turns off the hash function; limits the risk of using old programs
S raspivid -t 999999 -h 720 -w 1080 -fps 25 -hf -b 2000000 -o - | gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=1 pt=96 ! gdppay ! tcpserversink host=IP-ADDRESS port=5000
S Save it as a script file, make it executable in /etc/init.d/ and run at bootup
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Arduino + Wifly
S The wifly shield communicate to the arduino over the SPI
S Only the pins dedicated to SPI are used to all other I/O pins are available to be used
S Configure the shield to join an existing network or create an ad hoc network
S Here we connect to an existing network where the computer/smartphone is already connected
S Provide static ip address to the shield, the network name, password, authentication protocol etc.
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Code Highlight
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Code Highlight
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Propeller
S Using the different cogs that Propeller offers us we can
run more that one action at the same time i.e. read user
commands and move actuators in parallel
S It continuously receives signal form the arduino + wifly
S Propeller interprets and process the signal. Depending
on this, the robot will walk in different directions
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Code Main Cog
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Code Main Cog
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Code Walking Tab
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Code Walking Tab
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Code Left Turn
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Code Right Turn
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BRAT App