Instructors: Chris Atkeson,
cga at cmu
Akihiko Yamaguchi, info [at] akihikoy [dot] net
Time: TR 3-4:20PM
Place: NSH 3002
How to control servos from the Raspberry Pi 2
John Pascoe jpascoe at andrew:
The RPi python module has this method for controlling
servos sourceforge.net/p/raspberry-gpio-python/wiki/PWM/, you
do something like this
Raspberry-Pi-Servo1.jpg, and setup the control
as in that documentation.
There's also pi-blaster ( https://github.com/sarfata/pi-blaster ) if
you want a simple pseudo-file you can write to and control pwm with
NodeJS, Java, or anything that can write to a file.
Where to get Teensy software
Chris Atkeson cga at cmu
Don't use the usual Arduino software. Instead go to
the Teensy site.
How to get started.
Things of interest
Torah-Writing Robot At Berlin's Jewish Museum Is Four Times Faster Than A Rabbi
Events of interest
2016: Experimenting with Project Course format.
Get people picking projects early (at start of semester).
Use some class time for group meeting with instructors.
Let projects drive lectures.
There is no schedule or syllabus.
There will be some assignments intermixed with working on the projects.
Assignment 0: Due Jan 18.
Send email to Chris and Akihiko: What project do you want to do?
Who are you? Done any robotics?
Google and send me some interesting URLs.
Be sure your name is obvious in the email, and you mention the course
name or number in the subject line.
We teach more than one course, and a random email from
firstname.lastname@example.org is hard for us to process.
Assignment 1: Project Proposal: Due Feb 8.
Write a web page describing your group's project, and what your plan is.
Tell us what to buy for you.
Remember to list all your group members.
Email the URL to Chris and Akihiko.
Ian Quah (A3 and A4)
Clark Chen (using the Kinect to control Baxter through teleoperation)
Prachi Bodas + John Pascoe (tie a knot)
Tyler Goulding, Casey Fisher, Andrew Schroeder, Jonathan Burns. (vision)
David Yu (jigsaw puzzle)
Stephanie Pang, Ken Situ, Sobe Sim and Kevin Mortillaro.
Taichi Akiyama + Bobby Li
Jan 19: Using Matlab
A basic tutorial for vectors and matrices,
Jan 19: Inverse Kinematics Using Function Optimization
Robotics: redundant inverse kinematics.
Using Matlab's fminsearch and fminunc.
Using Matlab's fminsearch and fminunc, with
Using Matlab's fmincon.
Feb 8: ROS, Planning
- Introduction to ROS
- Case study of planning to understand what are the differences in problems:
Puzzles, Chess, Go
Moving a robot arm without collisions
Moving an animal-like robot to go forward
The ideas of state space (discrete v.s. continuous), action space
(discrete v.s. continuous), dynamics (known v.s. unknown) are
Feb 16: Handling 3D Orientation
Euler angles, and
Feb 19: Dynamics
gravity compensation, full dynamics,
April 26: Project Presentations
April 28: Project Presentations
May 10: Project Writeups Due
Something you come up with. Please talk to Chris Atkeson about this as
soon as possible.
Build a wearable arm(s) robot. (CGA). Example 1, MIT.
Example 2, Sarcos.
Build a vision system for the wearable arm using RGB and depth camera
(something like a Kinect). (CGA).
Build the non-vision sensor network for all these exoskeletons/robots.
IMUs; joint angle sensing, force sensing, contact and contact force sensing, ... (CGA).
Build an actual sensing skin for the wearable arm. (CGA).
Build a wearable legged robot. (CGA).
Build a legged robot that is fully actuated and can walk by itself using
similar technology. (CGA).
Make an inflatable robot walk. (CGA).
Make an inflatable robot's arm's touch, shake hands, and hug people. (CGA).
Things to Think About
Info on Humanoids
Other Humanoids Courses (mostly graduate) and Research Groups
Course Poster, suitable for framing.