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WGhost9
04-28-2009, 11:25 PM
Abstract: The Hibble is designed to be a multipurpose vision platform for creating/testing computer vision methods and applications.
The low-energy processor and I-Create base provide mobile platform navigation, and the 6-DOF arm allows for basic object tracking,
identification, and manipulation. The Hibble hosts a Windows XP environment for quick and easy code prototyping.

I recently completed a computer vision course and wanted a mobile robotics platform on which to try out some of what I learned, as
well as ideas of my own. Since there were very few such robots on the market (Surveyor SRV-1 (http://www.surveyor.com/SRV_info.html), Rovio (http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio:rovio) etc) and none offered the features
I wanted, I decided to create my own.
http://forums.trossenrobotics.com/gallery/files/2/9/7/4/arm_v_4.jpg
I designed the Hibble in Solidworks making it from an I-Create base (http://www.irobot.com/filelibrary/pdfs/hrd/create/Create%20Manual_Final.pdf) I harvested from an old robot project and some servo motors from an old
prototype leg. I laser cut the acrylic parts myself at the local Techshop (http://techshop.ws/). For the processor I used a Roboard (http://www.roboard.com/) with a 8gb uSD. The camera is a “Logitech
Quickcam for Notebooks” with auto-focusing. Finally, I threw in a pair of Trossen’s laser pointers (http://www.trossenrobotics.com/store/p/5605-Laser-Module-Red-with-TTL-Control.aspx) for laser distancing (and cat teasing).
http://forums.trossenrobotics.com/gallery/files/2/9/7/4/side_veiw_of_arm.jpg
The Hibble’s arm is for object tracking and manipulation via camera; it carries approximately four pounds and has 5 DOF (including
gripper). The I-create base provides the robot with a convenient supply of collision sensors and (most importantly) fairly accurate
stepper motor wheels. The movement accuracy of the base allows me to compare image frames taken at different positions for
multiple-view reconstruction.
http://forums.trossenrobotics.com/gallery/files/2/9/7/4/iso_veiw.jpg
Having had a month of software experimentation on the Hibble, I have concluded that the Roboard is really only suitable
for the simplest of image analysis, so, looking forward, I intend to reconstruct the Hibble to include an Atom N270 processor
with a 2GB RAM. Fear not for the Roboard however, since I intend to reuse it in a forthcoming beetle robot this summer.

jes1510
04-29-2009, 08:00 AM
Nice! I used a very similar articulated arm design on my telepresence robot although yours is a much cleaner implementation. That laser cut acrylic looks gorgeous.

DresnerRobotics
04-29-2009, 08:31 AM
Wow, you really did a superb job with this. I absolutely love the aesthetic, looks very professional.

Have you considered a pico-itx for more horsepower?

WGhost9
04-29-2009, 12:16 PM
Thanks for the nice comments; I am considering the pico-ITX since I believe the limiting factor with openCV may be the RAM more than the processor cache; however, considering the price range, an Intel Atom N270 motherboard would provide more for roughly the same price. The trouble is the Atom N270 motherboards are considerably larger than the pico-ITX, however I am thinking I can fit one in. This however will have to wait until after exams.

lnxfergy
04-29-2009, 12:29 PM
Thanks for the nice comments; I am considering the pico-ITX since I believe the limiting factor with openCV may be the RAM more than the processor cache; however, considering the price range, an Intel Atom N270 motherboard would provide more for roughly the same price. The trouble is the Atom N270 motherboards are considerably larger than the pico-ITX, however I am thinking I can fit one in. This however will have to wait until after exams.

Actually, most reviews put the 1GHz Pico on par with a 1.6 Atom... although iven the choices for 1.6Atom Mini-ITX boards, the pico draws half or less of the power....

-Fergs

WGhost9
04-29-2009, 02:33 PM
Thats probably true; I know that the Atom clocks in more like 1Ghz than its rated 1.6; however its the 2GB of RAM that I am hoping will truly imrove openCV performance. Also isnt the pico-itx's VX700 have a quarter of the cache of the Atom? I am not sure how much that affects performance though.

ScuD
04-29-2009, 02:35 PM
Wow, you really did a superb job with this. I absolutely love the aesthetic, looks very professional.



I couldn't agree more. Put some sleeving over the servo cables and they'll sell like warm sandwiches (hmm that doesn't sound as good as the dutch version)

elios
04-30-2009, 03:01 AM
(hmm that doesn't sound as good as the dutch version)

Hahaha yup....

Nice work. that is truly amazing... wish there were more roboteers in my lonely part of the world...