Hi all.. this thread is for my friend Timmy. He's an HR-OS5 that's been pieced together and even 3D printed to make whole. At this point he's a little naked but thanks to Shapeways and their black friday/cyber monday sales that will no longer be the case in just a short amount of time.
Timmy is running on an Intel NUC i5 with lots of ram, storage, wifi, bluetooth, and USB3 ports. This is complimented with the new Arbotix-Pro board and Ubuntu 14.04. Once all the parts were ready his assembly took somewhere around 30 hours and pushed my physical limit for how many screws I could install by hand in a short time span.
After assembly he's received a few new modifications. First was a Chappie head but not just the same thing as before, this one was going to be special. I took my original design and scaled it up plus added 3x servos to control features, OLED displays for eyes, and a custom VU meter for illuminating his mouth when talking. All but the audio signal for the mouth is controlled and powered over the Dynamixel bus, minimizing the the wiring between the head and the body. Two custom circuits were designed and etched on the CNC for easy and quick production. All the code to interface with the DXL bus, control the eyes, and move the servos was put on my pink Teensy 3.1 (yes, it finally found a perfect purpose) which is mounted on one of the aforementioned PCBs.
Of course this means I’d like to hear the robot so I started digging in those boxes of old electronics and computers that I can’t quite throw away and found a great Altec Lansing sound bar from a HP laptop that someone no longer wanted. These were perfect 4 ohm 1.5watt speakers that with a little modification and hot glue became Timmy’s new speaker box. Now with tiny speakers and a tiny amplifier circuit I could fit both audio components between the hips and batteries concealing the whole setup.
Now because what I’ve really got my eye on is some of these grippers from Seed Robotics, SR-DH4D Articulated Hand http://www.seedrobotics.com/products.html I decided to make some quick and simple hands to give him a friendlier look. I modeled them after some pictures found in Tyberius’ photo gallery and used some 7mm energy chain for fingers that I could get from amazon.com in a couple of days
And before I get to the good stuff I’ve also been playing with a new head design that is admittedly on the simple side but holds the Intel RealSense R200 camera. It’s taken me a good amount of time to get my hands on one of these cameras and currently Intel seems to support only the Windows SDK. That said there is some linux/ubuntu development and along with that a little bit of ROS code. I’ve had a chance to test the PercATI RealSense_ROS code and have successfully interfaced with the camera in Linux/ROS. I’m looking forward to more testing with a 60Hz depth camera and would like to integrate support with the ROS stuff I’ve been putting together.
And now for the fun part.. ROS ROS Taking from a number of open source projects I’ve been putting together a small ROS stack that is capable of controlling the robot, visualization, DS4 teleoperation, and 3D mapping the environment. As of late I’ve been focused on getting decent odometry but will soon be working towards a smoother walk gait to stabilize the body and therefore the IMU readings plus depth data. I’ve also been having fun with a ROS wrapper for pocketsphinx, allowing me to talk to Timmy and laugh at some of his responses.
I still have a ways to go on the development efforts but he's come a long way in a short time with a ton of great stuff on the horizon. If you've made it this far thank you for meeting Timmy. I'm sure I've left out some key details ( I'd rather be programming ) but feel free to ask away.