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Thread: Camera / Vision Processing (within the HR-OS1 Framework)

  1. #11

    Re: Camera / Vision Processing (within the HR-OS1 Framework)

    hum, and you have done this or are you just saying it should be easy?
    Last edited by LloydF; 09-16-2015 at 09:43 PM.

  2. #12
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    Re: Camera / Vision Processing (within the HR-OS1 Framework)

    If you have a 3D printer, it should be trivial to print up a new bracket to mount the shipped USB camera at some angle other than perpendicular to the end of the servo. It will introduce some rotation and translation offsets to the position of the camera relative to the rotational axes of the pan-tilt assembly, but they should be easily handled constants.

    As for the alternate pan-tilt design with a timing belt and pivot, I'm working on a ~2:1 capstan pair for the tilt to do initial testing (300 degrees of servo horn movement into ~150 degrees of camera tilt). If it works anything like I hope, then buying 11T and 21T MXL pulleys and a correctly sized belt would be the next step.
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
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  3. #13

    Re: Camera / Vision Processing (within the HR-OS1 Framework)

    tician, are you a beta tester? Oh yea I see you were having issues with the Arbotix-Pros and Pi's. Yes it seems to be a latency issue with the 3.18 kernel, an real time data. Now I could be wrong but I am pretty sure.
    Last edited by LloydF; 09-17-2015 at 04:05 PM.

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    Re: Camera / Vision Processing (within the HR-OS1 Framework)

    Quote Originally Posted by LloydF View Post
    tician, are you a beta tester?
    Not yet, but I have a few years experience building, using, and fixing dynamixel-based robots in addition to the BS EE/ME (and all courses for an MS Engr, but dropped out before finishing my thesis). Lots of ideas pop into my head and reach varying levels of development, but not many ever fully materialize because of limited resources and scary ability to become very quickly bored/disinterested/distracted.
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

  5. #15

    Re: Camera / Vision Processing (within the HR-OS1 Framework)

    I was Playing with you're rme files, they run on my pi-HROS1. I need to get mine adjusted to carpets, you're get up routines work
    Last edited by LloydF; 09-17-2015 at 04:14 PM.

  6. #16
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    Re: Camera / Vision Processing (within the HR-OS1 Framework)

    Quote Originally Posted by tician View Post
    If you have a 3D printer, it should be trivial to print up a new bracket to mount the shipped USB camera at some angle other than perpendicular to the end of the servo.
    This is true and a note on the subject of the limited downward viewing angle; A little bird has mentioned there will be a (possible?) revision to the HR-OS1 design addressing the issue. I may get impatient and come up with another temporary solution (other than a bigger ball) while we wait.

    Quote Originally Posted by LloydF View Post
    I was Playing with you're rme files, they run on my pi-HROS1. I need to get mine adjusted to carpets, you're get up routines work
    Woooo! That is super cool! What style hands did you have attached to your robot when you tested? BTW, those poses were made with WinRME </shameless plug>

    I'm sure they could be improved upon but at the moment I'm still enjoying them. It's kind of fun to load the ps3 demo and (repeatedly) lay the robot on it's back / belly and watch it get up all on it's own
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  7. #17

    Re: Camera / Vision Processing (within the HR-OS1 Framework)

    I have a shapeways set as there close to indestructible and feather light. Click image for larger version. 

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    Now that I am on the REAL TIME kernel patch I think I'll name him RT-HROS1.
    Last edited by LloydF; 09-17-2015 at 05:19 PM.

  8. #18
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    Re: Camera / Vision Processing (within the HR-OS1 Framework)

    Cool picture! I like your sign on the wall. When the stand up pages were created I was using the shapeways hands as well. I wonder, especially for standing from a front fall, if the different hands will have a big effect on it's ability to upright. Good to know it works with all the armor attached. I have most of mine off as I'm re-working my bot to keep the weight down.

    Last night I printed a new camera mount that has a 25 degree offset which allows him to see his feet. I hacked up the ps3_demo to add some basic soccer handling and this morning had a little fun...



    There is still much to do! And definitely lots of fun ahead.
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  9. #19

    Re: Camera / Vision Processing (within the HR-OS1 Framework)

    Great Film! It gave me a great laugh!

    Kurt

  10. #20

    Re: Camera / Vision Processing (within the HR-OS1 Framework)

    ROFL. So glad yours is as stable as mine, snicker. I think I need a tile soccer sheet, board, poster, to play on.

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