sunfest 2010sunfest 2010 nsf reu site...jason carter carlos torres advisor: camillo j. taylor grad...
TRANSCRIPT
![Page 1: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/1.jpg)
Jason CarterCarlos Torres
Advisor: Camillo J. TaylorGrad Student: Anthony Cowley
SUNFEST 2010SUNFEST 2010NSF REU Site
![Page 2: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/2.jpg)
Introduction◦ What we did?◦ Why?
Process◦ How we accomplished this?p
Outcome◦ What happened?
![Page 3: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/3.jpg)
Video
![Page 4: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/4.jpg)
Joystick control vs. Human Body ControlTeleoperationp◦ Map the human body onto a dexterous Robot◦ Use the robot to perform complex, dangerous tasks
Examples◦ IRobot “Urbie”◦ Foster Miller “Talon”
![Page 5: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/5.jpg)
Vicon HMD
Computer(Program Code)
PR2PR2
![Page 6: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/6.jpg)
Uses 3D model of HMDOutputs HMD positionUses an array of IR cameras
![Page 7: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/7.jpg)
Vuzix Wrap 920
Two display; one in each lenslens◦ 640x480 resolution
Six motion tracking markers added
![Page 8: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/8.jpg)
•Modular software architecture, ROS (Robot , (Operating System)
•Multiple sensors and•Multiple sensors and actuators
C b l d•Can be teleoperated through joystick
![Page 9: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/9.jpg)
ROS◦ Robot Operating System◦ Modular design◦ Open Source◦ Open SourcePython & C++
Program◦ Receive position information from Vicon◦ Convert Vicon measurements to PR2 commands◦ Send video from PR2 to computer
![Page 10: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/10.jpg)
Avatar
Components Used:◦ PR2◦ Vicon◦ HMDHMD
![Page 11: SUNFEST 2010SUNFEST 2010 NSF REU Site...Jason Carter Carlos Torres Advisor: Camillo J. Taylor Grad Student: Anthony Cowley SUNFEST 2010SUNFEST 2010 NSF REU Site `Introduction](https://reader036.vdocuments.site/reader036/viewer/2022071411/6107bd5ee7878b15dd1c7c30/html5/thumbnails/11.jpg)
Dr. C.J. TaylorAnthony CowleyDr. Van der Spiegel
Summer Undergraduate Fellowship in Sensor T h l i (S f t)Technologies (Sunfest)National Science Foundation (NSF)Advancing Robotics Technology for SocietalAdvancing Robotics Technology for Societal Impact (ARTSI)