Extension of the quadruped robot WARUGADAR
Contents
Part 1: project profile
Project name
Extension of the quadruped robot WARUGADAR.
Project short description
- Warugadar is still far from being a complete functional autonomous robot; the robot would benefit from the introduction of any other kind of sensor device that could allow it to be more aware of the surrounding environment. We want integrate on WARUGADAR one camera to provide it of visual sensibility.
- The Warugadar interface was developed in Matlab, we would translate in Pyro to benefit open source software.
Dates
- Start date: May 2008
- End date: March 2009 (max)
People involved
Project head
- Prof. Giuseppina Gini
- Prof. Paolo Belluco
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
To implement the vision system, I use CMUcam3 (where CMU stands for Carnegie Mellon University of Pittsburgh, Pennsylvania). CMUcam3 is not only a simple camera, but we can define it like an ARM7TDMI based fully programmable embedded computer vision sensor. The main processor is the Philips LPC2106 connected to an Omnivision CMOS camera sensor module with a maximun resolution of 352x288 pixels. Custom C code can be developed for the CMUcam3 using a port of the GNU toolchain along with a set of open source libraries and example programs. Executables can be flashed onto the board using the serial port with no external downloading hardware required.
