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Thread: The Hibble

  1. The Hibble

    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, Rovio etc) and none offered the features
    I wanted, I decided to create my own.

    I designed the Hibble in Solidworks making it from an I-Create base 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. For the processor I used a Roboard 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 for laser distancing (and cat teasing).

    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.

    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.
    Last edited by WGhost9; 04-28-2009 at 11:30 PM.

  2. #2
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    Re: The Hibble

    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.
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    Re: The Hibble

    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?

  4. Re: The Hibble

    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.

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    Re: The Hibble

    Quote Originally Posted by WGhost9 View Post
    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

  6. Re: The Hibble

    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.

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    Re: The Hibble

    Quote Originally Posted by Tyberius View Post
    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)
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    Re: The Hibble

    Quote Originally Posted by ScuD View Post
    (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...
    Hey Hamlet: 2b or not 2b = $FF

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