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Esercitazione con un robot umanoide Esercitazione con un robot umanoide programmabile per edutainmentprogrammabile per edutainment

Corso di Percezione Robotica A.A. 2007/2008 Modulo D: Applicazioni ed Esercitazioni

Lezione D.I

Giancarlo TetiRoboTech srl –www.RoboTechsrl.com

g.teti@robotechsrl.com

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RoboTech srlRoboTech srl is an academic spin-off company of Scuola Superiore Sant’Anna founded in 2004 by an associate Professor of Biomedical Robotics and a research assistant of the ARTS Lab

RoboTech mission:Long-term vision: service and personal roboticsShort-term target: edutainment robotics

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RoboTech ExpertiseDesign and development of

robotic systems for entertainment and educationelectronic modulesfirmware and softwaresystems for acquisition and processing of sensory dataICT facilities based on main existing standards

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I-Droid 01Humanoid Robot

I-Droid 01 is distributed worldwide as a collection in newspaper kiosks by De Agostini, Italian publisher with branches in 30 countries

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Japan (Mar. 2006)

Italy (2 launching, Aug. 2005/Aug. 2006)

Poland (Mar. 2006)

Spain (Sep. 2006)

Netherlands(Jan. 2007)

Portugal(Mar. 2007)

Belgium (Jan. 2008)

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I-Droid 01Humanoid Robot

8 Dof:- base 2- trunk 1- arms 2- head 2- hand 17 Encoders4 Microphones1 CMOS camera1 Touch sensor3 US sensors2 IR sensors1 Temperature sensor24 Led1 Universal remote controller

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2 DOF HEADWITH

ENCODERS

1 DOF ARMS WITH

ENCODERS

2 ACTIVE FRONTAL

WHEELS WITH ENCODERS

UP/DOWN MECHANISM

1 PASSIVE REAR WHEEL

PASSIVE ELBOW JOINT

RED, GREEN AND YELLOW

EYES LED (3+3)

CYAN EARS LED

8

TOUCH SENSOR

ULTRASOUND SENSORS

(2 TRASMITTER, 3 RECEIVER)

CMOS CAMERA

SPEAKER

MICROPHONES(SOUND

DETECTION)

MICROPHONES(SPEECH

RECOGNITION)

6 ADDITIONALGPIO

(GENERAL PURPOSE IO4 DIO, 2 AI)

DISPLAY AND KEYBOARD

TEMPERATURE SENSOR

(BACKPACK)

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HEAD TILT MOVEMENT:5 positionsHEAD PAN MOVEMENT:13 position

84 speaker independent commands

1 speaker dependent biometric password

220 preloaded phrases and sounds

10 recordable messages 16 secs each

ARMS: 16 positions

BASE:Max speed: - 20 cm/s with PID- 30 cm/s without PID

ADDITIONAL INPUT:4 Digital Input 0,3V2 Analog Input 0-3V

Display LCD:2 raws, 16 columns

HAND: 2 positions

HIP: 2 positions

Batteries: 8 AAA, 1.5V each4.5V electornics7.5V motors4 hours autonomy

CMOS Camera sensors: RGB, 0,3 Mega Pixel;max resolution 640x480. standard resolution 160x120.

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I-Droid 01 sensors, motorsand components

CMOS Sensor:SP 2030x by Sino-Pro Ltd

US Sensors: CUR10G1A-40 & CUT10G1A-40 by ChinaSound

IR TransmitterVISHAY TSAL7600

LM35 by National

LCD:GDM1602H byXiamen Ocular Ltd

IR Receiver:VISHAY TSOP32238

LED

Motors and Encoders

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I-Droid01 Humanoid RobotTechnical Specifications

Weight: 2 KgDof: 8 actuated, 4 not actuated

2 actuated wheels, max speed 30 cm/s1 actuated hip joint for stand up/sit down movement2 dof pan/tilt head: 13 pan positions, 5 tilt position2 dof left and right arm: shoulder actuated, 16 positions1 dof hand

Vocal recognition: 84 "speaker independent" commands1 "speaker dependent" biometric password

Speech Synthesis: 220 pre loaded phrases and soundsRecords up to 10 messages, 16 seconds each

■ CMOS Camera sensors: RGB max resolution 640x480

■ Bluetooth 2.0 module■ 1 RS-232■ 1 USB ("device") ■ 1 Analogic output (B&V module): PWM,

low-pass 8KHz■ 2 Analogic inputs (Arms module) ■ 4 Digital input/output (Arms module) ■ Ultrasound sensors: 2 emitters, 3

receivers■ 1 temperature sensor■ 2 IR sensors: operative range 20-60cm■ 1 LCD, 2 rows, 16 columns■ Batteries: 8 AA, 4 hours autonomy

(typical)

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I-Droid 01Humanoid Robot

Speech recognition and synthesis capabilities (Voice control) Image processing and visual recognition capabilitiesDetection of sound directionObstacle avoidance (US sensors) capabilityEmotion and mood expression Behavior based and Neural Network based software control systemRemote control by mobile phone and PC via BluetoothReprogrammable“Breadboard” for user custom circuits development

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Bluetooth

Local PC

remote PC

Internet

Voice Control

I-Droid01 User Interfaces

Bluetooth

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I- Droid 01 Interfaces: GUIs for PC and Mobile Phone

Based on Java Technology

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11 wordsets84 different commandsLanguages:

ItalianJapanesePolishDutchSpanishPortuguese

Voice Control

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RS232

Left

whe

elM

otor

+ E

ncod

er

µc2 – Arm ControllerFreescale MC68HC908AP8–20Mhz-8KB

µc6 –BluetoothNational LMX9830

µc1 – Base ControllerFreescale MC68HCS909GT16-40Mhz-16KB

CM

OS

ca

mer

a

Tem

pera

ture

sen

sor

display

µc3 – Head ControllerFreescale MC68HC908AP8–20Mhz-8KB

µc5 – Brain & VisionFreescale MC9328MXLVF15 ARM9 Architecture - 150Mhz

RAM 16MB , Flash 16MB

Pan

M

otor

+ e

ncod

er Tilt

Mot

or +

enc

oder

Microphone

Speaker

Rig

ht w

heel

Mot

or +

Enc

oder

US

sen

sor r

ecei

ver

Hip

Mot

or

PWM

US

sen

sor t

rasm

.

US

sen

sor r

ecei

ver

US

sen

sor t

rasm

.

US

sen

sor r

ecei

ver

Left

arm

Mot

or +

Enc

oder

R

ight

arm

Mot

or +

Enc

oder

Rea

r mic

roph

one

Rig

ht m

icro

phon

e

Left

mic

roph

one

Sound Follower

Bas

e Le

d (2

)

GP

IO (3

DI,3

DO

,2A

I)

Left

Arm

Too

l

Rig

ht A

rm T

ool

Touc

h S

enso

r

Eye

s Le

d (3

+3)

Ear

s Le

d (L

+R)

µc4 – MotherboardFreescale MC68HC908AP8–20Mhz-8KB

µc7 – VoiceSensory RSC4128–Flash 1MB

RS232

USB

RS2

32

Keyboard

I-DROID 01 HARDWARE ARCHITECTURE

µc7 – URCFreescale

QG8

µc8 – HandFreescale

QG4

Mot

or

IR tr

asm

.

IR re

ceiv

er

7.5VI2C BUS

4.5V3V

17

RS232

Left

whe

elM

otor

+ E

ncod

er

µc2 – Arm ControllerFreescale MC68HC908AP8–20Mhz-8KB

µc6 –BluetoothNational LMX9830

µc1 – Base ControllerFreescale MC68HCS909GT16-40Mhz-16KB

CM

OS

ca

mer

a

Tem

pera

ture

sen

sor

display

µc3 – Head ControllerFreescale MC68HC908AP8–20Mhz-8KB

µc5 – Brain & VisionFreescale MC9328MXLVF15 ARM9 Architecture - 150Mhz

RAM 16MB , Flash 16MB

Pan

M

otor

+ e

ncod

er Tilt

Mot

or +

enc

oder

Microphone

Speaker

Rig

ht w

heel

Mot

or +

Enc

oder

US

sen

sor r

ecei

ver

Hip

Mot

or

PWM

US

sen

sor t

rasm

.

US

sen

sor r

ecei

ver

US

sen

sor t

rasm

.

US

sen

sor r

ecei

ver

Left

arm

Mot

or +

Enc

oder

R

ight

arm

Mot

or +

Enc

oder

Rea

r mic

roph

one

Rig

ht m

icro

phon

e

Left

mic

roph

one

Sound Follower

Bas

e Le

d (2

)

GP

IO (3

DI,3

DO

,2A

I)

Left

Arm

Too

l

Rig

ht A

rm T

ool

Touc

h S

enso

r

Eye

s Le

d (3

+3)

Ear

s Le

d (L

+R)

µc4 – MotherboardFreescale MC68HC908AP8–20Mhz-8KB

µc7 – VoiceSensory RSC4128–Flash 1MB

RS232

USB

RS2

32

Keyboard

I-DROID 01 HARDWARE ARCHITECTURE

µc7 – URCFreescale

QG8

µc8 – HandFreescale

QG4

Mot

or

IR tr

asm

.

IR re

ceiv

er

7.5VI2C BUS

4.5V3V

Linux 2.4 for Arm Processors with C Compiler (Tiny C) on-board

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Design and development of I-Droid01 electronic components

Arms Controller

Bluetooth Module

Brain modulebased on ARM-9 processor

with Linux Embedded

Motherboard and display controller

Base Controller

Head Controller

Voice recognition modulebased on Sensory

Technologies

URC Module

Hand Module

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Software Architecture

Operative System:Linux 2.4 for Arm Processors with C Compiler (Tyni C) on-board

Two Main Process:System Controller for running robot behavioursUser Process for running user programs

Multi Treads ArchitectureA process run for each behaviour and for the main robot functionalities9 threads run concurrentlyRobot status is implemented as global structure shared between threads

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Tracking Behavior(Thread)

I2C Manager

Image Processing

(Thread)

System Controller(Thread)

I-DROID01 SOFTWARE ARCHITECTURE

Image Acquisition

(Thread) DBL BUF

Bluetooth Manager (Thread)

RS232

OU

TPU

T P

IPE

PC

User Program

INP

UT

PIP

E

BUS I2C

Global Structure

Thread

I/O Port

Ext Process

3

0

1

Voice Manager (Thread)

BUF

Receiver(Thread)

Sender(Thread)

StatusUpdate

(Thread) BUF

BUF

BUF

MoodManager

AC

KP

IPE

2

4

5 6 7 8

Object

CMOS

BUF

BUF

BUF

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Three different programming modalities:Basic level: graphical/icons (Visual C-like) Intermediate level: C-likeAdvanced level: Java

I-Droid 01 Programming

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Visual C-like SDK(Purposively developed)

Visual C-like SDK(Purposively developed)

Translation of Programs in C language

Translation of Programs in C language

Compilation of programs in executable program

Compilation of programs in executable program

Download of source programs to μc5

C-like SDKC-like SDK Users SDKJava ProgramsUsers SDK

Java Programs

JAVA Robot LibraryJAVA Robot Library

Sensor Status & Data

Motor Command

Motor commands

Sensor Status & Data

BluetoothB&V

Remote Control(PC/Mobile Phone) BASIC INTERMEDIATE ADVANCED

μc5 System Controllerμc5 System Controller

GUIGUI

PC

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Robot Programming: Visual C-like

Behaviour based

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Robot Programming: C-like

Automatic translation from Visual C-like to C-like language

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Additional GPIO and breadboard for user custom circuits development

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I-Droid 01 games:follow a colored object

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I-Droid 01 games: find a colored object

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Contacts

Giancarlo TetiRoboTech SrlVia Boccioni 1, I-56037 Peccioli (Pisa), Italy

e-mail: g.teti@RoboTechsrl.comPhone: +39 0587 672027Fax: +39 0587 670936

URL: http://www.RoboTechsrl.com