Warugadar - Fusion piezoelettric and vision controllers with PYRO

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Part 1: project profile

Project name

Warugadar - Fusion piezoelettric and vision controllers with PYRO


Dates

  • Start date: September 2009
  • End date: Ongoing

People involved

Project head

Students

Laboratory work and risk analysis

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

  • Use of mechanical tools. Standard safety measures described in Safety norms will be followed.

Part 2: Project Description

Progect Aim

Actually Warugadar moves using the piezoelettric sensors or the cmucam. However it isn't able to move using both of them at the same time. Aim of this project is to allow Warugadar to walk with a complete use of its sensors. Another aim project is to study the potential of the Warugadar's perception system.

Progect Design

To preserve the already work done from Franchi (http://airwiki.elet.polimi.it/mediawiki/index.php/Motion_Planning_for_Warugadar) and De Ambrogi (http://airwiki.elet.polimi.it/mediawiki/index.php/Extension_of_the_quadruped_robot_WARUGADAR), will not be done any relevant modify to their algoritms. So the final controller could be represented like an AFS autom with a state set, subset of the cartesian product of the already existing AFS.

Pratical Phase

Actually the project is at implemention time.

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