Difference between revisions of "User:Muhsin.King"

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4. Adapt embedded control system to ROS and evaluate
 
4. Adapt embedded control system to ROS and evaluate
 
  
 
5. Learn to program OP2 vision and motion system.
 
5. Learn to program OP2 vision and motion system.
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===Week 1 - June 1-5===
 
===Week 1 - June 1-5===
 
+
'''Monday'''
 +
: Orientation part 1
 +
'''Tuesday'''
 +
: Orientation part 2
 +
'''Wednesday'''
 +
: Familiarized myself with the HEIRlab
 +
: Set up workstation
 +
'''Thursday'''
 +
: Began exploring methods of communicating with the CM-700 microcontroller from a Linux PC
 +
:: Found methods using Embedded C
 +
:: These wipe the factor firmware, which we need
 +
: Exploring methods of exporting RoboPlus motion files to C/C++
 +
:: Turns out this is impossible/unsupported by Robotis
 +
:: Moving forward: how to call roboplus files programmatically?
 +
: Attempted to explore Darwin OP2 code from source
 +
:: Can't mount files on windows, installing Linux virtualbox
 +
'''Friday'''
 +
: Found Python code to issue commands to a Bioloid (CM-510) from a Mac
 +
:: Very poorly documented; might not be viable.
 +
:: Can't test, as our LN-101 cable (connects CM-700 to USB) seems to be broken
 +
: Set up a Git repository for the HEIR lab Robocup 2015 team
 +
:: https://github.com/muhsinking/heirlab-robocup-2015
  
 
===Week 2 - June 8-12===
 
===Week 2 - June 8-12===

Revision as of 15:57, 12 June 2015


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. Design and build a prototype embedded system using CM-700, mini-PC, Robotis servos and mini-PC

2. Port and adapt code to new embedded control system

3. Evaluate system on MU-L8 humanoid

4. Adapt embedded control system to ROS and evaluate

5. Learn to program OP2 vision and motion system.

6. Study the Robotis OP 2 (OP2) humanoid platform hardware and software.

Research Log

Week 1 - June 1-5

Monday

Orientation part 1

Tuesday

Orientation part 2

Wednesday

Familiarized myself with the HEIRlab
Set up workstation

Thursday

Began exploring methods of communicating with the CM-700 microcontroller from a Linux PC
Found methods using Embedded C
These wipe the factor firmware, which we need
Exploring methods of exporting RoboPlus motion files to C/C++
Turns out this is impossible/unsupported by Robotis
Moving forward: how to call roboplus files programmatically?
Attempted to explore Darwin OP2 code from source
Can't mount files on windows, installing Linux virtualbox

Friday

Found Python code to issue commands to a Bioloid (CM-510) from a Mac
Very poorly documented; might not be viable.
Can't test, as our LN-101 cable (connects CM-700 to USB) seems to be broken
Set up a Git repository for the HEIR lab Robocup 2015 team
https://github.com/muhsinking/heirlab-robocup-2015

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

-->