Nouman Tahir

> Person Following Robot

> Robotic Arm Kinematics

Person Following Robot

● Hardware Requirments– Mobile Robot Base

– Depth Sensor

– Mounting Platform

● Software Requirments– Processing Unit

– Development Platform

Development Platform

● ROS (Robot Operating System)The Robot Operating System (ROS) is a set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS has what you need for your next robotics project. And it's all open source

● WHY ROS?– Its Open Source

means you can always be a part of mainframe development

– Huge Support for hardware platform

– Large Developer Community

– High Package Flexibity

– Very Good Compatibility

Learning Phase

● Understading Basic Working of ROS● Learing python● Learning and Testing Driving ROS● Learning iRobot op-codes for serial

communications● Learning RVIZ for simulation● Litrature Review for Follower Robot

Integrating Robot With ROS

Integrating Arduino with iRobot

Integrating Arduino with ROS

Testing Robot With ROS Interface

Human Tracking

Kinect DriverOpenni

PrimeSense NITESkeleton Tracking

RVIZ Skeleton

Torso TF Processing

Arduino Integration CodeTransform Listener Code

Skeleton Tracker Code Following Algorithm

Integrating Nodes

Follower Robot

Robotic Arm Kinematics

● Hardware Requirements– Fabricated Arm– Dynamixel Servos– Servo Driver– Xbee Module– Processing Unit

● Software Requirment– Development Platform

Turtlebot ARM URDF

Simulating Joint angles in Rviz

Thank You!