Build a Smart Servo [step 1]: Circuit, Torque Sensing and PID Control

November 18, 2016 Tech No comments

Circuit

Bomlist:

  • The servo I use is RDS3128 (28kgcm torque, 8V voltage, $20).
  • The DC motor driver is MC33926 from Pololu ($17).
  • And the MCU is an Arduino with Atmega32u4 on it(same configuration as Arduino Leonardo but smaller and cheaper $5)

I desoldered the original circuit board in the[……]

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Build a Smart Servo [step 0]: Basic Ideas

November 18, 2016 Tech No comments

Basic idea

The basic idea is to build a smart servo like Dynamixel, which is expensive and has more features than regular RC servos of course.
First of all let’s compare the regular RC servos and smart servos like Dynamixel.

  • Smart servo:
    • Internal structure: MCU, DC motor driver, angle sensor[……]

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inspiRED Leg Upgrade [step 4]: Run, Forrest, Run!

October 7, 2016 Tech No comments

Previous posts:

This is [step 4] for the leg upgrade in my[……]

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inspiRED Leg Upgrade [step 3]: Leg V3.0 with Collision Problems Fixed

September 29, 2016 Tech No comments

Previous posts:

This is [step 3] for the leg upgrade in my inspiRED humanoid bipedal robot project.

The basic idea to solve the[……]

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inspiRED Leg Upgrade [step 2]: Leg V2.0 with New Shock Absorber

September 29, 2016 Tech 1 comment

Previous posts:
* inspiRED Leg Upgrade [step 0]: Fusion360 model
* inspiRED Leg Upgrade [step 1]: Laser Cutting Parts

I got some new longer shock absorber and designed new laser cutting parts to mount them for the leg of my humanoid bipedal robot project.

The previous shock absorber I used is ba[……]

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Explorer [step 0]: Indoor ROS Self-driving Mobile Platform

September 18, 2016 Tech No comments

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This project involves building an indoor self-driving mobile platform featured with laser scanner and ROS support. Here are some important features:

  • The body of the robot is laser cutted Acrylic chasis. I got within $10 from China. It also comes with 2 DC motor and holes for encoder mount[……]

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inspiRED Leg Upgrade [step 1]: Laser Cutting Parts

September 18, 2016 Tech 2 comments

Previous post: inspiRED Leg Upgrade [step 0]: Fusion360 model

I recently got inspiRED Leg version 1.0 ready for my humanoid bipedal robot project with some laser cutting parts designed with Fusion 360.

Here are all the old hand-crafted parts and the new laser cutting parts:

old

The white hand-cra[……]

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inspiRED Leg Upgrade [step 0]: Fusion360 model

September 6, 2016 Tech 5 comments

I recently got started reworking on the leg of my inpiRED bipedal Humanoid robot project. The basic idea is to draw all the CAD files using Fusion 360 and simulate the whole thing in a simulator with physical engine.

This is the old version I have got. Some of the parts were 3d printed using the[……]

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Servo Control on Odroid U3 with Arduino and ROS

August 13, 2015 Tech No comments

This article shows you how to drive a hobby servo using Odroid U3.

Upload this to your Arduino board:

/*
 * rosserial Servo Control Example
 *
 * This sketch demonstrates the control of hobby R/C servos
 * using ROS and the arduiono
 * 
 * For the full tutorial write up, visit
 * www.ros.org/wik[......]

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Initial Humanoid Robot

July 27, 2015 Embedded System, Tech No comments

Initial is a 40-cm humanoid robot. Its used for testing of running ROS on single board computer, Odroid U3, which talks to a low level controller board for controlling servo motors via serial port. It is also equipped with an HD camera, and the video stream can be transported to the laptop via wifi.[……]

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Play Sound and Text-to-Speech on Odroid U3

April 30, 2015 Tech No comments

After one week hacking I finally found out how to play sound or do text-to-speech on Odroid U3.

What you need to do is simply:

    su root
    adduser odroid audio

then when you typegroups odroid , you will see that the user odroid is in the audio group. Then you can play sound through the 3.5mm[……]

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Set up VNC Server on Odroid U3

April 14, 2015 Tech No comments

vncThis tutorial is aimed to set up the VNC server on your Odroid U3 so that you can get full access to its GUI using your laptop or desktop without using a HDMI display.

Set up:

Odroid U3:

  1. sudo apt-get install vnc4server or sudo apt-get install tightvnc4server.
  2. tap vncserver :1 which means open p[……]

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Set up Odroid U3 with ROS

March 4, 2015 Tech 1 comment

Odroid

Set up Odroid U3 with ROS

Flash the MicroSD card with new image (optional)

The MicroSD card which comes with the Odroid set has been flashed with the image on Odroid official website: http://com.odroid.com/sigong/nffileboard/nfileboard.php
However a
Robotics Edition image is also available h[……]

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Procreate Painting: Chuchu (with process video)

January 6, 2015 Sketch Book, Work & Life No comments

Hardware: Ipad 4
App: Procreate
Model: Chuchu
Process Video:

Another picture of Chuchu made with Sketchbook Pro:

Sketchbook Drawing: Miss H

January 4, 2015 Sketch Book, Work & Life No comments

Hardware: Sony st15i Cell Phone
App: Sketchbook Mobile
Model: Miss H

Procreate Painting: Kelsey (with process video)

January 4, 2015 Sketch Book, Work & Life No comments

Process Video:

Hardware: Ipad 4
App: Procreate
Model: Kelsey

Procreate Painting: Sakura (with process video)

January 3, 2015 Sketch Book, Work & Life No comments

Process Video:

Hardware: IPad 4
App: Procreate
Tool: Fingers
Model: Sakura

SketchBook Painting: Kelsey

January 3, 2015 Sketch Book, Work & Life No comments


Hardware: iTouch 4
App: SketchBook Mobile
Model: Kelsey

Install Recsys and Crab in Ubuntu 12.04

March 15, 2014 Recommender System No comments

crab:
Don’t install crab in this way: pip install crab / easy_install crab
You can find crab in pypi.python.org, this is not our scikits.crab source
Solution:
git clone https://github.com/muricoca/crab.git
python setup.py install

test: python -c “import scikits.crab as scc; scc.test()”

re[……]

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Notes for CGAL Programming

January 9, 2014 3D Mesh Segmentation, Tech No comments

Reference:
http://www.cgal.org/Tutorials/Tutorial_SCG99.ps.gz

The structure of CGAL:

1

Geometric Kernel:

Points, Predicates, and Exactness
Number Types
Cartesian Representation
Homogeneous Representation

Generic Programming and the Basic Library:

Templates in C++
Generic Funct[……]

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