Tentacle Path Planning

The Robot

The robot consists of the tentacle arm, a webcam (Logitch QuickCam Communicate), and a playpen.

The tentacle consists of 8 servos in series. The servos are Dynamixel AX-12+ Actuators. They are setup through Tekkotsu as a brand new "Tentacle" robot. The servo IDs are in increasing order 1 to 8 starting from the base.

The camera sits far above the table top to get the widest field of view possible of the rest of the playpen. The green Easter eggs represent the boundaries of the camera's viewing angle. The blue and teal Easter eggs represent obstacles for the tentacle to avoid.