Page 3 of 3 FirstFirst 123
Results 21 to 27 of 27

Thread: Meet Timmy, the ROS powered humanoid

  1. #21
    Join Date
    Mar 2015
    Location
    Texas
    Posts
    338
    Images
    15
    Rep Power
    25

    Re: Meet Timmy, the ROS powered humanoid

    Well now it certainly has been a while since I've updated Timmy's post here. We've been learning a few new tricks, experimenting with different ROS packages and writing a few new nodes just for fun.

    I continued to play with ORK and trained new objects which lead to writing a node that subscribes to the detected objects, queries the object database and speaks the items that fit within my sanity parameters.

    Object detection with item announcements:
    https://www.instagram.com/p/BC_QNBun...by=roboempress
    Sorry no youtube videos exist yet.

    Another package I wanted to get back to since building ROSie was COB (Care-O-bot) people detection. It is used for detecting heads and faces and recognizing people. I started with a node that subscribes to the detection data and Timmy would announce the names of the faces he recognized. Then I took it a step further and used the detection location data to position Timmy's head before he offered his greeting. So somewhere between my instagram post and the youtube video I just posted for you all I added the ability to look around for a face when no detections were present. This led to some funny but almost creepy moments where I see movement in the corner of my eye and when I look over the robot is staring right at me.

    Face Recognition:
    https://www.instagram.com/p/BEpDbBJn...by=roboempress
    and


    At some point or another I had been wanting to play with a package called find_object_2d which kinda humorously also contains a find_object_3d launch file for use with depth sensors. Anyway. This one was extremely easy to use and quite fun with a primesense. Beyond testing I haven't done anything with this package but I'm sure at some point I'll have a use. I did notice this morning TeamKAIST has a demo video showing the use of this package.

    Feature match objects and estimate pose in 3D space:


    After a while I started to realize Timmy is never walking around. A big part of why he doesn't is the environment he lives in isn't really suited for his walk gait, size, etc. He lives in a hackerspace of a home after all, it's quite cluttered around here. Despite this I do take Timmy out every now and again and when he's walking around I'm teleoperating. So I wrote another node that subscribes to the depth data ( depth to laserscan specifically and for simplicity ) and determines feasibility to travel forward when the depth points within my bounds are less than my threshold. When an obstacle is detected he backs up and picks a new route. If he falls over he has the ability to get back up and the program will continue once his body is stabilized.

    Simple Rover Node:


    A small challenge presented itself and I'm not sure how much I should be mentioning but I can share the result. Basically what I ended up with is my HR-OS1 running Ubuntu 14.04 on a RPi2 running a ROS package containing nodes I created for Arbotix-Pro communication and servo feedback. Servo angles were then transmitted over the network from the HR-OS1 to the HR-OS5 running the ROS stack. Chap became Timmy's puppet master

    HR-OS1 ROS networking:


    I suppose that is about all.

    PS
    Timmy had an amazing time at RoboGames 2016! (and hello to those of you who I ran into).
    01001001001000000100110001101111011101100110010100 10000001010010011011110110001001101111011101000111 0011

    My Instagram
    My YouTube

  2. #22
    Join Date
    Dec 2012
    Location
    Los Angeles, CA
    Posts
    825
    Images
    25
    Rep Power
    78

    Re: Meet Timmy, the ROS powered humanoid

    Amazing progress! Well done!

  3. #23
    Join Date
    May 2016
    Location
    USA
    Posts
    145
    Images
    12
    Rep Power
    7

    Re: Meet Timmy, the ROS powered humanoid

    You have some nice humanoids there.

  4. #24

    Re: Meet Timmy, the ROS powered humanoid

    Great work!

    Kurt

  5. #25
    Join Date
    Mar 2015
    Location
    Texas
    Posts
    338
    Images
    15
    Rep Power
    25

    Re: Meet Timmy, the ROS powered humanoid

    Thank you guys.
    01001001001000000100110001101111011101100110010100 10000001010010011011110110001001101111011101000111 0011

    My Instagram
    My YouTube

  6. #26

    Re: Meet Timmy, the ROS powered humanoid

    Sure is quiet up here!!

    As I am subscribed to your YouTube stuff, thought I would mention, that it sure looks like you are making a lot of great progress with Timmy!

    Looks Great!

  7. #27
    Join Date
    Mar 2015
    Location
    Texas
    Posts
    338
    Images
    15
    Rep Power
    25

    Re: Meet Timmy, the ROS powered humanoid

    Hey Kurt! Thanks It has been on the quiet side. Even here things slowed down for a little bit as required resources for my specific goals have become harder to come by (funding woes mainly) . In the lull of the action I received an invitation to compete in Korea's International Robot Contest this October so I've got some new short term goals to work on if I am to bring some good competition. You've probably seen what I've started for the autonomous track walk on youtube and I'm looking at another 8+ events to prepare for in the next couple months. Hopefully this means some fun and interesting videos and updates will follow!

    01001001001000000100110001101111011101100110010100 10000001010010011011110110001001101111011101000111 0011

    My Instagram
    My YouTube

Thread Information

Users Browsing this Thread

There are currently 1 users browsing this thread. (0 members and 1 guests)

Similar Threads

  1. Project Arduino powered humanoid robot
    By nostronus in forum Project Showcase
    Replies: 2
    Last Post: 02-16-2012, 04:52 PM
  2. Issy3 (Powered by ROS)
    By lnxfergy in forum ROS - Robot Operating System
    Replies: 30
    Last Post: 07-16-2010, 08:49 PM
  3. Phidget SBC powered tank
    By Robert in forum Project Showcase
    Replies: 7
    Last Post: 10-19-2009, 12:58 PM
  4. Laptop Powered RC car
    By Matt in forum Project Showcase
    Replies: 12
    Last Post: 10-22-2008, 12:42 AM
  5. solar powered robots
    By openmindedjjj in forum Robotics General Discussion
    Replies: 10
    Last Post: 07-24-2008, 11:36 AM

Posting Permissions

  • You may not post new threads
  • You may not post replies
  • You may not post attachments
  • You may not edit your posts
  •