Adding sensors to KHR humanoids
Adding sensors to KHR humanoids
by plingboot
Fri Oct 27, 2006 9:44 am
Hi all,
Second post in this forum and i'm afraid it's more newbie stuff - i'm guessing there'll be a few more posts like this before i start offering info back.
Before dropping serious coin on my first humanoid, i'd like to get an idea of what's possible and what i can get out of the hobby.
My aim is to build a humanoid which can be trained to walk, climb my stairs and react to it's surroundings.
For the reading i've done so far, it seems that a KHR-2 would make a good starting point.
The crux of this post:
As far as "reacting to it's surroundings" goes - i'd like to add 2 or 3 ultra sonic range finder sensors to the humanoid. When it get's close to 'something' or when 'something' gets close to it i want to have an 'evasive action' performed. (ie the bot is walking around my studio, the dog comes in and goes to nudge it, when the dog gets with 1 foot of the bot, it stands still and flings out it's arms or makes a sound. OR it's walking around, but when it comes within a foot of and object it turns and continues.)
It would seem that actually adding the sensors to the bot is quite straightforward, but how striaght forward is it to use the input from the sensors and integrate it with other actions ?
Second post in this forum and i'm afraid it's more newbie stuff - i'm guessing there'll be a few more posts like this before i start offering info back.
Before dropping serious coin on my first humanoid, i'd like to get an idea of what's possible and what i can get out of the hobby.
My aim is to build a humanoid which can be trained to walk, climb my stairs and react to it's surroundings.
For the reading i've done so far, it seems that a KHR-2 would make a good starting point.
The crux of this post:
As far as "reacting to it's surroundings" goes - i'd like to add 2 or 3 ultra sonic range finder sensors to the humanoid. When it get's close to 'something' or when 'something' gets close to it i want to have an 'evasive action' performed. (ie the bot is walking around my studio, the dog comes in and goes to nudge it, when the dog gets with 1 foot of the bot, it stands still and flings out it's arms or makes a sound. OR it's walking around, but when it comes within a foot of and object it turns and continues.)
It would seem that actually adding the sensors to the bot is quite straightforward, but how striaght forward is it to use the input from the sensors and integrate it with other actions ?
by Robo1
Fri Oct 27, 2006 10:09 am
I might be wrong but the only way to make the bot do that is to have somethign like a gumstix or some other processor that takes the sensor reading then sends a command to the servo board to trigger a sequence.
I have looked into doing it with the standard board but I can't see a way to program and decent AI in to it.
If anyone has done it I would like to hear how they did it.
bren
I have looked into doing it with the standard board but I can't see a way to program and decent AI in to it.
If anyone has done it I would like to hear how they did it.
bren
Re: Adding sensors to KHR humanoids
by heke
Fri Oct 27, 2006 7:06 pm
I think that for example an ultra sound sensor and a receiver are needed (like a car parking sensor). The distance is converted to a voltage. Then that voltage is inputted to any of the analog inputs.
On a software side certain movement (for example escaping or attacking) is trigged, when voltage rises in that analog input.
Maybe several sensors could be mixed in to the same analog input. First half of the analog input range is coming from one sensor and the other half from another sensor. Then voltages are summed and imputted to one analog input. On a software there are several compares with different values (and different actions).
On a software side certain movement (for example escaping or attacking) is trigged, when voltage rises in that analog input.
Maybe several sensors could be mixed in to the same analog input. First half of the analog input range is coming from one sensor and the other half from another sensor. Then voltages are summed and imputted to one analog input. On a software there are several compares with different values (and different actions).
by heke
Sat Oct 28, 2006 7:20 pm
Another sensor could be connected in to the demo switch. Sensor signal should be converted to a digital signal, and that would trig the demo motion (first pull down menu motion in Option window).
It works even if the robot is performing another motion.
The switch must be pressed long enough.
It works even if the robot is performing another motion.
The switch must be pressed long enough.
by SK
Wed Nov 01, 2006 10:02 am
These gumstix boards look pretty interesting. In RoboCup, many teams use a PDA as their robot´s "brains", which sends motion commands via a serial connection to the controller board. So if you have a PDA by chance, you could try this out. Of course, at least KHR-1 type robots seem to be struggling a bit with the additional weight.
You can find some pictures and videos of a YDH (and also 2 of a KHR-1) equipped in such a way of the Darmstadt Dribblers team here: http://robocup.informatik.tu-darmstadt. ... anguage=en
These two robots were used in the 2005 competitions, but but got replaced with new robots in 2006, who are bigger,much faster and more stable.
You can find some pictures and videos of a YDH (and also 2 of a KHR-1) equipped in such a way of the Darmstadt Dribblers team here: http://robocup.informatik.tu-darmstadt. ... anguage=en
These two robots were used in the 2005 competitions, but but got replaced with new robots in 2006, who are bigger,much faster and more stable.
