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| ece4560:project [2018/10/20 22:05] – pvela | ece4560:project [2024/08/20 21:38] (current) – external edit 127.0.0.1 |
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| 1. **The Robotic Arm Track.** \\ | 1. **The Robotic Arm Track.** \\ |
| The original project for the course which is a [[http://www.lynxmotion.com/images/jpg/al5d.jpg|5DOF robotic arm]]. A recent addition to this track includes a 4DOF planar robotic arm. The robotic arm track, as the default project, has historically been incorporated into the homeworks. This year, an effort will be made to move the project deliverables [[Manipulator:Adventures | here]]. | The original project for the course which is a [[http://www.lynxmotion.com/images/jpg/al5d.jpg|5DOF robotic arm]]. A recent addition to this track includes a 4DOF planar robotic arm. The robotic arm track, as the default project, has historically been incorporated into the homeworks. |
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| | [[Manipulator:Adventures | Program of Study]]. |
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| 2. **The Mobile Robot Track.** \\ | 2. **The Mobile Robot Track.** \\ |
| This newer [[http://www.turtlebot.com/|mobile robot]] project has a mostly established [[Turtlebot:Adventures | program of study]]. It revolves around learning to use the Robot Operating System (ROS) to control a robot to move about. The culmination uses visual sensing to perform tracking and target following. | This newer [[http://www.turtlebot.com/|mobile robot]] project has a mostly established [[Turtlebot:Adventures | program of study]]. It revolves around learning to use the Robot Operating System (ROS) to control a robot to move about. The culmination uses visual sensing to perform tracking and target following. |
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| | [[Turtlebot:Adventures | Program of Study]] |
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| 3. **A Bipedal Robot.** \\ | 3. **A Bipedal Robot.** \\ |
| The newest is a (planar) [[ECE4560:Biped:Adventures|bipedal locomotion project]]. It combines some of the course material with numerical optimal control methods to synthesize a quasi-static walking gait. The project deliverables will be posted to this wiki as the semester progresses. What the term "planar" means is that we constrain the robot to walk in a circle using a boom, so that it cannot tip sideways. It can fall forwards/backwards. | The newest is a (planar) [[ECE4560:Biped:Adventures|bipedal locomotion project]]. It combines some of the course material with numerical optimal control methods to synthesize a quasi-static walking gait. The project deliverables will be posted to this wiki as the semester progresses. What the term "planar" means is that we constrain the robot to walk in a circle using a boom, so that it cannot tip sideways. It can fall forwards/backwards. |
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| | [[ECE4560:Biped:Adventures| Program of Study]] |
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| ===== Research-Inspired Projects ===== | ===== Research-Inspired Projects ===== |
| 3. **Vision-Based Manipulation**\\ | 3. **Vision-Based Manipulation**\\ |
| Adds a camera to the robot arm and aims to use it for successfully executing grasping tasks on objects within the field of view of the camera. Most likely will be a depth camera to facilitate grasping analysis. Recovery of reference frames will involve the use of AR Tags ([[https://docs.opencv.org/3.1.0/d5/dae/tutorial_aruco_detection.html|ArUco Markers]], specifically). Interfacing and programming is through ROS/Python or ROS/C++. | Adds a camera to the robot arm and aims to use it for successfully executing grasping tasks on objects within the field of view of the camera. Most likely will be a depth camera to facilitate grasping analysis. Recovery of reference frames will involve the use of AR Tags ([[https://docs.opencv.org/3.1.0/d5/dae/tutorial_aruco_detection.html|ArUco Markers]], specifically). Interfacing and programming is through ROS/Python or ROS/C++. |
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| | //Program of Study:// An attempt to formalize this project will be made. Look [[ECE4560:VisMan:Adventures | here]]. |
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| 4. **Mech-Warrior** \\ | 4. **Mech-Warrior** \\ |
