Bioloid (20 DOF) with N900 head

[sascha]

Hi, I updated my mobile phone robot. The batteries were moved to the feet and the torso was updated. Phone has been rotated compared to initial design.

Following software runs now on the N900:
- ROS
- OpenCV
- gstreamer (640x480 H.264)
- fcam (used intitially for autofocus etc)
- VNC / SSH (for remote access)

I wrote an ROS node for the N900 accelerometer and played a little bit with OpenCV. The face detection speed on the N900 was a bit disappointing though (0.25 fps) and I decided to stream the video to my PC (using gstreamer for which exists an ROS integration). Streaming causes only about 20% CPU utilization (640x480 resolution / H.264 / 1500 KB/s) on the N900.
Less complex tasks like color based tracking should be able to run on the robot itself with acceptable speed.

Next thing I will work on is an URDF model for ROS.

Here are some pics:

[danialbehzadi]

Hey, briliant idea
Did you connect servos directly to the N900? How?

[i-Bot]

I think the answer is give earlier in the thread.

BTW: The N900 is connected to the USB to Dynanixel adapter, but I removed the Serial portion, since I don't need it.

[torne]

Salut Sascha,
bonne idée les batterie dans les pieds.
j'aurai voulu savoir si le robot arrive a marcher sans difficultées
avec le poids des batteries.
pourriez vous mettre une ou deux photos de votre montage des pieds.
Merci

[sascha]

Hi torne,

here are some close-up shots of the lipo foots.

http://robosavvy.com/Builders/sascha/photo-foot01.JPG
http://robosavvy.com/Builders/sascha/photo-foot02.JPG
http://robosavvy.com/Builders/sascha/photo-foot03.JPG

Mounting was quite easy, no problem a small drill can't solve.

Regards, Sascha

[torne]

Salut Sascha,
Merci pour les photos ,je vais faire le montage

Torne

[limor]

Great work! thanks for posting.
What materials did you use to make that nice cut bended(?) plastic shell ?

btw: if you need more better closed-loop servo response rates than 25/sec for 20 servos, consider alternative firmware for the AX12 (such as Morpheus)

[sascha]

The shell holding the N900 is 2mm carbon fiber. I used memory carbon, which can be formed in 2 dimensions after heating up.

The upper part of the mobile phone is just covered with a (carbon pattern) adhesive film, to match the colour of the actual bracket.

[peeer]

.I recently came across your article and have been reading along.
I want to express my admiration of your writing skill and ability to make readers read from the beginning to the end.
I would like to read newer posts and to share my thoughts with you.

[shenglu]

Charming robot toys and if have a chance I'LL buy one too!

[Liya08]

Thanks for proviing the photos! I guess the idea is awesome!
What materials did you use to make that nice cut bended(?) plastic shell ?