Sketching arm: Skediomata in python
Sketching arm: Skediomata in python
by skediomata
Wed Nov 18, 2009 12:04 pm
Hi Bioloid adepts
Not sure if I should start a new topic...
but i'll post here progresses as it evolves..it should very regularly over the next 2 months,
As part of my research project.http://www.aikon-gold.ac.uk. I have designed a low cost arm specialised in drawing. (Only needs to work in 2.5D).
There are differences with VanHessling's plotter.. http://robosavvy.com/forum/viewtopic.php?t=318&highlight=plotter, First I call it arm (more pretentious) and it has 4DoF.
The design to lift the pen uses only one servo and doesn't have to lift the full arm. It's inspired by humanoid arms....but I must admit that vanHessling's pen holder is very elegant, and I didn't look into the excell/vba stuff it seems to be clever...and does the job
The low quality video: http://sites.google.com/site/aikonproject/Home/skediomota-robot . Shows the first drawing (nothing amazing, don't have time to do a pretty drawing)... It works by recording first the movement using the servos feedback. Then playing it back....
There is also a simulator. I'll finish it today...
Inverse kinematic..to be tested.
The control is written in python for linux OS using:
I am using all these libraries as the project will grow and needs a strong architecture...
Pyserial (of course)
The excellent Enthought framework http://code.enthought.com/
Yarp (yet another robot platform) http://eris.liralab.it/yarp/, that will allow for distributed multiprocesses. And also it will allow to use some of the module conceived for the iCub project. http://www.robotcub.org/
KDL (part of the Orocos platform) http://www.orocos.org/kdl
The simulator uses:
Vpython http://vpython.org/
PyOde http://pyode.sourceforge.net/
Vision bit is mainly using
openCV [url]opencv.willowgarage.com/[/]
Willow garage are also developing a very interesting robotic platform..(ROS)
I am not releasing the code yet...but I will release it soonish...through Launchpad.
Cheerio
-----------------------
"Try, fail, try again, fail but this time a bit better"
S. Beckett
-----------------------
Not sure if I should start a new topic...
but i'll post here progresses as it evolves..it should very regularly over the next 2 months,
As part of my research project.http://www.aikon-gold.ac.uk. I have designed a low cost arm specialised in drawing. (Only needs to work in 2.5D).
There are differences with VanHessling's plotter.. http://robosavvy.com/forum/viewtopic.php?t=318&highlight=plotter, First I call it arm (more pretentious) and it has 4DoF.
The design to lift the pen uses only one servo and doesn't have to lift the full arm. It's inspired by humanoid arms....but I must admit that vanHessling's pen holder is very elegant, and I didn't look into the excell/vba stuff it seems to be clever...and does the job
The low quality video: http://sites.google.com/site/aikonproject/Home/skediomota-robot . Shows the first drawing (nothing amazing, don't have time to do a pretty drawing)... It works by recording first the movement using the servos feedback. Then playing it back....
There is also a simulator. I'll finish it today...
Inverse kinematic..to be tested.
The control is written in python for linux OS using:
I am using all these libraries as the project will grow and needs a strong architecture...
Pyserial (of course)
The excellent Enthought framework http://code.enthought.com/
Yarp (yet another robot platform) http://eris.liralab.it/yarp/, that will allow for distributed multiprocesses. And also it will allow to use some of the module conceived for the iCub project. http://www.robotcub.org/
KDL (part of the Orocos platform) http://www.orocos.org/kdl
The simulator uses:
Vpython http://vpython.org/
PyOde http://pyode.sourceforge.net/
Vision bit is mainly using
openCV [url]opencv.willowgarage.com/[/]
Willow garage are also developing a very interesting robotic platform..(ROS)
I am not releasing the code yet...but I will release it soonish...through Launchpad.
Cheerio
-----------------------
"Try, fail, try again, fail but this time a bit better"
S. Beckett
-----------------------
correction
by skediomata
Wed Nov 18, 2009 12:22 pm
The first url should be http://www.aikon-gold.com...
system falling into place..skediomata is signing
by skediomata
Mon Jan 11, 2010 11:04 pm
Most of the various processes are now implemented.. now cleaning the code. And building the Gui
video
It is "looking" at an image of a signature...then doing an approximate expressive rendition. The vision part uses mathematical morphology. Not using visual feedback in this example.
Patrick
video
It is "looking" at an image of a signature...then doing an approximate expressive rendition. The vision part uses mathematical morphology. Not using visual feedback in this example.
Patrick
by MikeG
Tue Jan 12, 2010 1:45 pm
From my experience you might consider slowing down the motors. The Dynamixels will overshot the mark and that will cause problems when you try to implement your IK.
http://robosavvy.com/forum/viewtopic.php?t=5270
http://robosavvy.com/forum/viewtopic.php?t=5270
Skediomata drawing faces from the audience at kinetica
by skediomata
Wed Feb 10, 2010 3:17 pm
Skediomata~Aikon2 was on display at Kinetica2010 art fair in London. 04/02/2010-07/02/2010
It only worked from the saturday (I had a few depressing sleepless nights)..
Over the two days it drew over an hundred faces.
The system uses the responses from Gabor filters at various scales and limited orientations...
Footage
The Aikon2 project is also in the press: In blueprint magazine (digital/print)
Issue #288 p.90
BluePrint
It only worked from the saturday (I had a few depressing sleepless nights)..
Over the two days it drew over an hundred faces.
The system uses the responses from Gabor filters at various scales and limited orientations...
Footage
The Aikon2 project is also in the press: In blueprint magazine (digital/print)
Issue #288 p.90
BluePrint