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==Milestones & Goals== | ==Milestones & Goals== | ||
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| − | + | 1. Study the Robotis OP 2 (OP2) humanoid platform hardware and software. | |
| − | + | 2. Learn to program OP2 vision and motion system. | |
| + | 3. Design and build a prototype embedded system using CM-700, mini-PC, Robotis servos and mini-PC | ||
| + | |||
| + | 4. Port and adapt code to new embedded control system | ||
| + | |||
| + | 5. Evaluate system on MU-L8 humanoid | ||
| + | |||
| + | 6. Adapt embedded control system to ROS and evaluate | ||
==Research Log== | ==Research Log== | ||
Revision as of 15:47, 12 June 2015
Contents
Research Topic
Adviser: Dr. Andrew Williams Working with Matt Morris and the reset of the HEIRlab team, I'm working to implement the software side of a soccer-playing humanoid robot. My job is to achieve constant communication between the robot's controller, a CM-700, and an onboard Linux Mini-PC. While normally this wouldn't be a complicated task, I have to preserve the built-in firmware so that we can utilize RoboPlus motion files, and the default firmware has no support for the kind of direct PC to controller connection we need to establish.
Once I'm finished establishing this link, I will continue to work on other pieces of the project, including high-level decision making protocols based on visual input (on the Mini-PC side) and creating the RoboPlus task files that will initiate motions based on serial inputs.
Assuming we're successful in creating a soccer-playing humanoid, I would then move on to try and adapt the control scheme of the Darwin-OP to our own robot.
Milestones & Goals
1. Study the Robotis OP 2 (OP2) humanoid platform hardware and software.
2. Learn to program OP2 vision and motion system.
3. Design and build a prototype embedded system using CM-700, mini-PC, Robotis servos and mini-PC
4. Port and adapt code to new embedded control system
5. Evaluate system on MU-L8 humanoid
6. Adapt embedded control system to ROS and evaluate
Research Log
Week 1 - June 1-5
Week 2 - June 8-12
Monday
Tuesday
Wednesday
Thursday
Friday
- Organized wiki page
Week 3 - June 15-19
Monday
Tuesday
Wednesday
Thursday
Friday
Week 4 - June 22-26
Monday
Tuesday
Wednesday
Thursday
Friday
Week 5 - June 29-July 3
Monday
Tuesday
Wednesday
Thursday
Friday
Week 6 - July 6-10
Monday
Tuesday
Wednesday
Thursday
Friday
Week 7 - July 13-17
Monday
Tuesday
Wednesday
Thursday
Friday
Week 8 - July 20-24
Monday
Tuesday
Wednesday
Thursday
Friday
Week 9 - July 27-31
Monday
Tuesday
Wednesday
Thursday
Friday
Week 10 - August 3-7
Monday
Tuesday
Wednesday
Thursday
Friday
-->
