AIRWiki - User contributions [en]

ULISSE

2009-04-18T10:22:46Z

DavideFasani: /* Description and results of experiments: */

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
</gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
</gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.JPG | Stair
Image:Ostacolo_quotato.jpg | obstacle
</gallery>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

<gallery>
Image:Form1.JPG | Initial window
Image:Form2.jpg| Window to load a file
Image:Form3.jpg| Window to send commands to robot
</gallery>

===== Photos: =====
<gallery>
Image:ULISSE1.JPG|
Image:ULISSE2.JPG|
Image:ULISSE3.JPG|
Image:ULISSE4.JPG|
</gallery>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

ULISSE

2009-04-18T10:20:05Z

DavideFasani: /* Description and results of experiments: */

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
</gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
</gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.JPG | Stair
Image:Ostacolo_quotato.jpg | obstacle
</gallery>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

<gallery>
Image:Form1.JPG | Initial window
Image:Form2.JPG | Window to load a file
Image:Form3.JPG | Window to send commands to robot
</gallery>

===== Photos: =====
<gallery>
Image:ULISSE1.JPG|
Image:ULISSE2.JPG|
Image:ULISSE3.JPG|
Image:ULISSE4.JPG|
</gallery>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

File:Form3.jpg

2009-04-18T10:19:04Z

DavideFasani:

File:Form2.jpg

2009-04-18T10:18:54Z

DavideFasani:

File:Form1.JPG

2009-04-18T10:18:44Z

DavideFasani:

ULISSE

2009-04-18T10:18:07Z

DavideFasani: /* Description and results of experiments: */

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
</gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
</gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.JPG | Stair
Image:Ostacolo_quotato.jpg | obstacle
</gallery>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

<gallery>
Image:Form1.JPG | Initial window
Image:Form2.JPG | Window to load a file
Image:Form2.JPG | Window to send commands to robot
</gallery>

===== Photos: =====
<gallery>
Image:ULISSE1.JPG|
Image:ULISSE2.JPG|
Image:ULISSE3.JPG|
Image:ULISSE4.JPG|
</gallery>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

ULISSE

2009-04-18T10:13:42Z

DavideFasani:

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
</gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
</gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.JPG | Stair
Image:Ostacolo_quotato.jpg | obstacle
</gallery>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

===== Photos: =====
<gallery>
Image:ULISSE1.JPG|
Image:ULISSE2.JPG|
Image:ULISSE3.JPG|
Image:ULISSE4.JPG|
</gallery>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

ULISSE

2009-04-18T10:11:15Z

DavideFasani: /* Photos: */

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
</gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
</gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.JPG | Stair
Image:Ostacolo_quotato.jpg | obstacle
</gallery>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

===== Photos: =====
<gallery>
Image:ULISSE1.JPG|
Image:ULISSE2.JPG|
Image:ULISSE3.JPG|
Image:ULISSE4.JPG|
</gallery>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

ULISSE

2009-04-18T10:10:32Z

DavideFasani: /* Description and results of experiments: */

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
</gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
</gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.JPG | Stair
Image:Ostacolo_quotato.jpg | obstacle
</gallery>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

===== Photos: =====
<gallery>
Image:ULISSE1.jpg
Image:ULISSE2.jpg
Image:ULISSE3.jpg
Image:ULISSE4.jpg
</gallery>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

ULISSE

2009-04-18T10:09:31Z

DavideFasani:

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
</gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
</gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.jpg | Stair
Image:Ostacolo_quotato.jpg | obstacle
</gallery>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

===== Photos: =====
<gallery>
Image:ULISSE1.jpg
Image:ULISSE2.jpg
Image:ULISSE3.jpg
Image:ULISSE4.jpg
</gallery>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

File:ULISSE4.JPG

2009-04-18T10:08:26Z

DavideFasani:

File:ULISSE3.JPG

2009-04-18T10:06:58Z

DavideFasani:

File:ULISSE2.JPG

2009-04-18T10:05:58Z

DavideFasani:

File:ULISSE1.JPG

2009-04-18T10:04:56Z

DavideFasani:

File:Sistema controllo.jpg

2009-04-18T10:03:54Z

DavideFasani:

File:Scala quotata.JPG

2009-04-18T10:03:44Z

DavideFasani:

File:Ostacolo quotato.jpg

2009-04-18T10:03:32Z

DavideFasani:

File:Copri-sensori.jpg

2009-04-18T10:03:06Z

DavideFasani:

File:Foto ULISSE.jpg

2009-04-18T10:01:20Z

DavideFasani:

ULISSE

2009-04-18T09:54:24Z

DavideFasani:

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
</gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
</gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.jpg | Stair
Image:Ostacolo_quotata.jpg | obstacle
</gallery>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

===== Photos: =====
<gallery>
Image:Ulisse1.jpg
Image:Ulisse2.jpg
Image:Ulisse3.jpg
Image:Ulisse4.jpg
</gallery>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

ULISSE

2009-04-18T09:54:08Z

DavideFasani:

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
</gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
</gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.jpg | Stair
Image:Ostacolo_quotata.jpg | obstacle
</gallery>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

===== Photos: =====
<gallery>
Image:Ulisse1.jpg
Image:Ulisse2.jpg
Image:Ulisse3.jpg
Image:Ulisse4.jpg
</galley>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

ULISSE

2009-04-18T09:53:30Z

DavideFasani:

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
</gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
</gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.jpg | Stair
Image:Ostacolo_quotata.jpg | obstacle
</galley>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

===== Photos: =====
<gallery>
Image:Ulisse1.jpg
Image:Ulisse2.jpg
Image:Ulisse3.jpg
Image:Ulisse4.jpg
</galley>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

ULISSE

2009-04-18T09:52:53Z

DavideFasani:

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
</gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
<\gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
<\gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.jpg | Stair
Image:Ostacolo_quotata.jpg | obstacle
<\galley>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

===== Photos: =====
<gallery>
Image:Ulisse1.jpg
Image:Ulisse2.jpg
Image:Ulisse3.jpg
Image:Ulisse4.jpg
<\galley>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

ULISSE

2009-04-18T09:52:02Z

DavideFasani:

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

<gallery>
Image:foto_ULISSE.jpg | The robot ULISSE
<\gallery>

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

<gallery>
Image:Sistema_controllo.jpg | The ULISSE’s control system
<\gallery>

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

<gallery>
Image:copri-sensori.jpg | Encoder’s cover
<\gallery>

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.jpg | Stair
Image:Ostacolo_quotata.jpg | obstacle
<\galley>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

===== Photos: =====
<gallery>
Image:Ulisse1.jpg
Image:Ulisse2.jpg
Image:Ulisse3.jpg
Image:Ulisse4.jpg
<\galley>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

ULISSE

2009-04-18T09:50:02Z

DavideFasani:

== Walks of ULISSE robot==

=== Project name ===
Analysis and realization of walks in mixed environment and new graphic user interface for a pneumatic four-leg robot

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know
where is" in the room: video sensors, touch sensors or ... .

We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2009/04/20

===== Project head =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:DavideFasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos;
* configuration and the use of hardware and software;

===== State of the art: =====
ULISSE is a four-leg robot, with an aluminium loom, twelve pneumatic pistons (three in each leg),
twelve optical encoder to set the length of each piston, twenty-four air valve to insert air into pistons.

Image:foto_ULISSE.jpg | The robot ULISSE

The control system is formed by a router, four network cards and wires to connect all the components.

It’s impossible to command the robot by an high-level interface, but it must be commanded by specify
the lengthening of each piston, study the timing and the actions to reach the final goal.

ULISSE is formed by a parallel structure, so it’s very difficult to model it for the cinematic study.

Image:Sistema_controllo.jpg | The ULISSE’s control system

===== Design notes and guidelines: =====

During the work on ULISSE, we had notice that it is sensitive at electro-magnetic waves and at the direct light on encoders.

To resolve this problems we put on the robot a Faraday cage to shield the electronic components and some structures to
cover the optical sensors.

Image:copri-sensori.jpg | Encoder’s cover

===== Description and results of experiments: =====

We implement four new walks for the robot, two curved movement, and two actions to pass obstacles, the obstacles that has
been made for this project are a little stair with three steps and a block that the robot have to climb over.

<gallery>
Image:Scala_quotata.jpg | Stair
Image:Ostacolo_quotata.jpg | obstacle
<\galley>

We also re-implement the GUI to allow future student to import some text file into the ULISSE control program and in this
way study new walks and improve the autonomy.

===== Photos: =====
<gallery>
Image:Ulisse1.jpg
Image:Ulisse2.jpg
Image:Ulisse3.jpg
Image:Ulisse4.jpg
<\galley>
Some images that show ULISSE during the obstacle’s climb .

===== Configuration and the use of hardware and software: =====

The complete manual and report of this work is in the thesis named “Analisi e realizzazione di andature in ambiente
misto e nuova interfaccia utente per un robot quadrupede pneumatico”.

You can find it in the Central Library.

User:DavideFasani

2008-06-23T08:51:36Z

DavideFasani:

{{User
|firstname=Davide
|lastname=Fasani
|email=dadifasi@libero.it
|advisor=Giuseppina Gini
|projectpage=ULISSE
|photo=foto_scale.jpg
}}

'''Davide Fasani'''

Nato a Milano il 21-12-1984

E-Mail: dadifasi@libero.it

'''Istruzione e formazione'''

- ''Settembre 2003 – Marzo 2007'' Laurea in Ingegneria informatica (1° livello)

- ''Settembre 1998 - Luglio 2003'' Perito Industriale Capotecnico - Specializzazione Informatica
presso Istituto Tecnico Industriale Statale Luigi Galvani, Milano

'''Attualmente'''

Tesista presso AIRLab con progetto ULISSE

User:Davide Fasani

2008-06-08T09:56:19Z

DavideFasani:

File:Foto scale.jpg

2008-06-08T09:24:47Z

DavideFasani:

User:Davide Fasani

2008-06-08T09:17:46Z

DavideFasani:

{{User
|firstname=Davide
|lastname=Fasani
|email=dadifasi@libero.it
|advisor=Giuseppina Gini
|projectpage=ULISSE
|photo=foto_scale.jpg
}}

'''Davide Fasani'''

Nato a Milano il 21-12-1984

E-Mail: dadifasi@LIBERO.it

'''Istruzione e formazione'''

- ''Settembre 2003 – Marzo 2007'' Laurea in Ingegneria informatica (1° livello)

- ''Settembre 1998 - Luglio 2003'' Perito Industriale Capotecnico - Specializzazione Informatica
presso Istituto Tecnico Industriale Statale Luigi Galvani, Milano

'''Attualmente'''

Tesista presso AIRLab con progetto ULISSE

User:Davide Fasani

2008-06-07T15:58:50Z

DavideFasani:

{{User
|firstname=Davide
|lastname=Fasani
|email=dadifasi@libero.it
|advisor=Giuseppina Gini
|projectpage=ULISSE
|photo=
}}

'''Davide Fasani'''

Nato a Milano il 21-12-1984

E-Mail: dadifasi@LIBERO.it

'''Istruzione e formazione'''

- ''Settembre 2003 – Marzo 2007'' Laurea in Ingegneria informatica (1° livello)

- ''Settembre 1998 - Luglio 2003'' Perito Industriale Capotecnico - Specializzazione Informatica
presso Istituto Tecnico Industriale Statale Luigi Galvani, Milano

'''Attualmente'''

Tesista presso AIRLab con progetto ULISSE

User:Davide Fasani

2008-06-07T15:36:46Z

DavideFasani:

{{User
|firstname=Davide
|lastname=Fasani
|email=dadifasi@libero.it
|advisor=Giuseppina Gini
|projectpage=ULISSE
|photo=foto_scale.JPG
}}

'''Davide Fasani'''

Nato a Milano il 21-12-1984

E-Mail: dadifasi@LIBERO.it

'''Istruzione e formazione'''

- ''Settembre 2003 – Marzo 2007'' Laurea in Ingegneria informatica (1° livello)

- ''Settembre 1998 - Luglio 2003'' Perito Industriale Capotecnico - Specializzazione Informatica
presso Istituto Tecnico Industriale Statale Luigi Galvani, Milano

'''Attualmente'''

Tesista presso AIRLab con progetto ULISSE

User:Davide Fasani

2008-06-07T15:32:55Z

DavideFasani: C:\Documents and Settings\Davide\Documenti\Scuola\2_specialistica\tesi\foto_scale.JPG

{{User
|firstname=Davide
|lastname=Fasani
|email=dadifasi@libero.it
|advisor=Giuseppina Gini
|projectpage=ULISSE
|photo=foto_scale.JPG
}}

'''Davide Fasani'''

Nato a Milano il 21-12-1984

E-Mail: dadifasi@LIBERO.it

'''Istruzione e formazione'''

- ''Settembre 2003 – Marzo 2007'' Laurea in Ingegneria informatica (1° livello)

- ''Settembre 1998 - Luglio 2003'' Perito industriale capotecnico - specializzazione Informatica
presso Istituto Tecnico Industriale Statale Luigi Galvani, Milano

'''Attualmente'''

Tesista presso AIRLab con progetto ULISSE

ULISSE

2008-06-06T09:50:23Z

DavideFasani:

== Walk of ULISSE robot==

=== Project name ===
Try to implement some new wolk for the robot ULISSE and put an artificial vision sensor on it.

=== Project short description ===
We'll try to expand the the possible walks of the robot ULISSE and try to implement some sensors to allow the robot to "know

where is" in the room: video sensors, touch sensors or ... .
We also will try to drive it with a camera put on it and find some future application for the robot.

=== Dates ===
Start date: 2008/06/17

End date: 2010/12/31

===== Project head(s) =====
G. Gini

===== Students currently working on the project =====

Davide Valentino Fasani [[User:Davide Fasani]]

Chiara Fornoni [[User:ChiaraFornoni]]

===== Students who worked on the project in the past =====

Lorenzo Molinaro

Cristian Salvaterra

== '''Part 2: project description''' ==

Some ideas for the project we will do are:
* state of the art;
* design notes and guidelines;
* description and results of experiments;
* photos and videos;
* link to source code of the software written for the project;
* advice about the configuration and the use of hardware and software;

We will upload materials as soon as possible!!

Projects

2008-06-06T09:49:58Z

DavideFasani: /* Robotics */

''This page is a repository of links to the pages describing the '''projects''' we are currently working on at AIRLab.
See the list of our finished projects on the [[Finished Projects]] page.''

== Ongoing projects ==
''by research area (areas are defined in the [[Main Page]]); for each project a name and a link to its AIRWiki page is given''

==== [[Agents, Multiagent Systems, Agencies]] ====
----

* [[Multiagent cooperation|Multiagent cooperating system]]

* [[Planning in Ambient Intelligence scenarios| Planning in Ambient Intelligence scenarios]]

==== [[BioSignal Analysis]] ====
----
====== [[Affective Computing]] ======

* [[Relatioship between Cognition and Emotion in Rehabilitation Robotics]]
* [[Driving companions]]
* [[Emotion from Interaction]]
* [[Affective Devices]]

====== [[Brain-Computer Interface]] ======

* [[Online P300 and ErrP recognition with BCI2000]]
* [[BCI based on Motor Imagery]]
* [[Graphical user interface for an autonomous wheelchair]]
* [[Mu and beta rhythm-based BCI]]

====== [[Automatic Detection Of Sleep Stages]] ======

* [[Sleep Staging with HMM]]

====== [[Analysis of the Olfactory Signal]] ======

* [[Lung Cancer Detection by an Electronic Nose]]
* [[HE-KNOWS - An electronic nose]]

==== [[Computer Vision and Image Analysis]] ====
----

* [[Automated extraction of laser streaks and range profiles]]

* [[Data collection for mutual calibration|Data collection for laser-rangefinder and camera calibration]]

* [[Image retargeting by k-seam removal]]

* [[Particle filter for object tracking]]

* [[Template based paper like reconstruction when the edges are straight]]

* [[Wii Remote headtracking and active projector]]

* [[Vision module for the Milan Robocup Team]]

==== [[Machine Learning]] ====
----
* [[Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games|Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games]]

==== [[Ontologies and Semantic Web]] ====
----
* [[JOFS|JOFS, Java Owl File Storage]]
* [[FolksOnt|FolksOnt]]
* [[Extending a wiki with semantic templates]]
* [[GeoOntology|Geographic ontology for a semantic wiki]]

==== [[Philosophy of Artificial Intelligence]] ====
----
==== [[Robotics]] ====
----
* [[LURCH - The autonomous wheelchair]]

* [[Rawseeds|RAWSEEDS]]

* [[Balancing robots: Tilty, TiltOne]]

* [[ROBOWII ]]

* [[PoliManus]]

* [[ZOIDBERG - An autonomous bio-inspired RoboFish]]

* [[Styx The 6 Whegs Robot]]

* [[PolyGlove: a body-based haptic interface]]

* [[ULISSE]]

==== [[Soft Computing]] ====
----

== Note for students ==

If you are a student and there isn't a '''page describing your project''', this is because YOU have the task of creating it and populating it with (meaningful) content. If you are a student and there IS a page describing your project, you have the task to complete that page with (useful and comprehensive) information about your own contribution to the project. Be aware that the quality of your work (or lack of it) on the AIRWiki will be evaluated by the Teachers and will influence your grades.

Instructions to add a new project or to add content to an existing project page are available at [[Projects - HOWTO]].