MicroRaptor Progress

Hi everyone,

Thought it was about time to post a progress update on my Squeak-powered
biped robot, MicroRaptor.

http://www.bioloid.info/tiki/tiki-index.php?page=MicroRaptor

Specifically, you may want to look at the Screenshots page, and of course
the Movies page is interesting.

The brain is running on my laptop. Eventually (once the embedded code gets
done) the robot will have a wifi interface, and true wireless operation
will be possible. The hardware interface has a pluggable component which
allows me to choose either a socket connection or a serial port.

I have another UI that I built first, which gives you more control over the
various (many) parameters each servo has:

http://www.huv.com/blog/uploaded_images/Squeak-Admin-01-704502.PNG

There are a few other interesting movies that may be of interest:

Controlling an AX-12 (the servo used) from the above GUI:
http://www.bioloid.info/tiki/tiki-download_file.php?fileId=45

Watching how torque feedback works:
http://www.bioloid.info/tiki/tiki-download_file.php?fileId=49

Later,
Jon

--------------------------------------------------------------
   Jon Hylands      [hidden email]      http://www.huv.com/jon

  Project: Micro Raptor (Small Biped Velociraptor Robot)
           http://www.huv.com/blog

Really fantastic work!

But let me warn: "You will not be able to avoid that I ask you about
using Squeak in such sort of applications in the future"  :)

Cheers.
gsa.

2007/2/12, Jon Hylands <[hidden email]>:

--
Germán S. Arduino
http://www.arsol.biz
http://www.arsol.net

On Mon, 12 Feb 2007 11:31:51 -0300, "Germán Arduino" <[hidden email]>
wrote:

> Really fantastic work!

Thanks :-)

> But let me warn: "You will not be able to avoid that I ask you about
> using Squeak in such sort of applications in the future"  :)

No problem - that's what I'm here for...

Later,
Jon

--------------------------------------------------------------
   Jon Hylands      [hidden email]      http://www.huv.com/jon

  Project: Micro Raptor (Small Biped Velociraptor Robot)
           http://www.huv.com/blog

Le 12 févr. 07 à 16:57, Jon Hylands a écrit :

> On Mon, 12 Feb 2007 11:31:51 -0300, "Germán Arduino"  
> <[hidden email]>
> wrote:
>
>> Really fantastic work!
>
>
I like it too.

>> But let me warn: "You will not be able to avoid that I ask you about
>> using Squeak in such sort of applications in the future"  :)
>
> No problem - that's what I'm here for...
>
BTW, at Douai, together with Serge Stinckwich, we're working on  
driving Wifibots (http://www.wifibot.com/) using squeak for a Search  
and Rescue robotic project. So far, we do remote-control using  
Squeak. One of our objectives is to embed Squeak in the bot and have  
it work autonomously.

Noury
------------------------------------------------------------------
Dr. Noury Bouraqadi - Enseignant/Chercheur
ARMINES - Ecole des Mines de Douai - Dept. I.A.
http://csl.ensm-douai.fr/noury

European Smalltalk Users Group Board
http://www.esug.org
------------------------------------------------------------------

On Tue, 13 Feb 2007 11:48:12 +0100, Noury Bouraqadi
<[hidden email]> wrote:

> BTW, at Douai, together with Serge Stinckwich, we're working on  
> driving Wifibots (http://www.wifibot.com/) using squeak for a Search  
> and Rescue robotic project. So far, we do remote-control using  
> Squeak. One of our objectives is to embed Squeak in the bot and have  
> it work autonomously.

Very interesting...

Do you have autonomous control code already written?

Later,
Jon

--------------------------------------------------------------
   Jon Hylands      [hidden email]      http://www.huv.com/jon

  Project: Micro Raptor (Small Biped Velociraptor Robot)
           http://www.huv.com/blog

Le 13 févr. 07 à 14:39, Jon Hylands a écrit :
No yet. That's the next step.
We'll probably need to recompile the squeak VM and load it on the  
Linux embedded device (Nylon distribution). This is the "major"  
obstacle we have to face. Otherwise, the rest seem straight forward.

Noury
------------------------------------------------------------------
Dr. Noury Bouraqadi - Enseignant/Chercheur
ARMINES - Ecole des Mines de Douai - Dept. I.A.
http://csl.ensm-douai.fr/noury

European Smalltalk Users Group Board
http://www.esug.org
------------------------------------------------------------------

Jon Hylands a écrit :

Very nice work, Jon !
There seems to be a lot of activities with Squeak and robots now :
- SqueakBot, a project which I carry out with the french association
Planet Science  : http://www.iutc3.unicaen.fr/serge/wiki.php/SqueakBot
- the QUTe robot simulator : http://sky.fit.qut.edu.au/~sitte/
- DEFART, a visual programming system for AIBO : http://www.itolab.com/en/
- we are also starting some experiments, Noury and i, with the WifiBot
platform. We have also developed a Roomba vacuum cleaner simulator :
http://csl.ensm-douai.fr/MalevaST

I think we should work together, in order to share some basic
components. With Noury, we are mainly interested by adaptive component
models for robotic platforms.

Is your code available freely available ? I see "URBI" in you
screenshots, do you use the URBI interface (http://www.urbiforge.com/) ?

Cheers,

--                                                         oooo
Dr. Serge Stinckwich                                     OOOOOOOO
Université de Caen>CNRS UMR 6072>GREYC>MAD               OOESUGOO
http://doesNotUnderstand.free.fr                          oooooo
Smalltalkers do: [:it | All with: Class, (And love: it)]   \  /
                                                             ##

On Wed, 14 Feb 2007 15:48:45 +0100, Serge Stinckwich
<[hidden email]> wrote:

> Is your code available freely available ? I see "URBI" in you
> screenshots, do you use the URBI interface (http://www.urbiforge.com/) ?

Hi Serge,

No, at this point, my code is not available, sorry.

I have set up an URBI client as a hardware interface, so I can drive URBI
robots from my code, including the Aibo simulated in Webots using URBI, and
a real Aibo as well using URBI. The robot class basically specifies what
kind of hardware interface is used (right now I can talk to URBI or the
Bioloid bus).

I might be interested in making my last generation code available if you're
interested - see http://www.huv.com/roboMagellan for details... It is very
robot-independent.

Later,
Jon

--------------------------------------------------------------
   Jon Hylands      [hidden email]      http://www.huv.com/jon

  Project: Micro Raptor (Small Biped Velociraptor Robot)
           http://www.huv.com/blog

Jon Hylands a écrit :
I think we have to do the same, an URBi client interface. I have a new
project with the HRP-2 humanoid robot and fortunately there is now an
URBI interface.

> I might be interested in making my last generation code available if you're
> interested - see http://www.huv.com/roboMagellan for details... It is very
> robot-independent.

Yes, i'm interested, the wifibot platform we use seems to be very
similar : http://www.wifibot.com/

Cheers,

--                                                         oooo
Dr. Serge Stinckwich                                     OOOOOOOO
Université de Caen>CNRS UMR 6072>GREYC>MAD               OOESUGOO
http://doesNotUnderstand.free.fr                          oooooo
Smalltalkers do: [:it | All with: Class, (And love: it)]   \  /
                                                             ##