Hero Kambiz |
Introduction: |
The objective of the competition
was to develop a robot that could recognize different objects, read the
alphabet that was printed on the surface of them and take them to
predetermined locations.
Hero Kambiz won the first prize of part two of The 3rd Iranian Robot
Contest, University of Tehran, 2002. |
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Robot Technical Feature: |
To maximize the stability of robot
in abrupt turns and high speed, we had to put the camera inside the robot.
One mirror above the camera made him capable to view his front. The picture
was transferred to a PC. The high level programming in Matlab, captured the
picture, processed it and send proper commands to robot through serial
connection. |
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He had one arm and one wrist. By
appropriate combination of general commands he could grab and move any
object. Motor controller board was specially designed to provide different
speed and acceleration using PWM signaling. The control of arm and wrist was
independent of other parts, consequently robot had some multi task
capability. It means that he could move his arms or open his wrist while
moving. |
Hero Kambiz had one micro controller.
Six general commands were defined and programmed in that 89C52 micro
controller. The commands were : Turn , Move_Stright , Arm , Grab ,
Little_Kambiz and Halt. Each command had a variety of arguments which made
robot movement and performance so flexible. |
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He had a well trained neural network
which was stored in a PC that was connected to his camera. Another program
captured the picture and determined the area which the letter exist and send
it to the neural network. |
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Summarized
Characteristics: |
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Well-trained Neural Network for character
recognition.
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Image Processing Algorithm for navigation,
locating the objects and specifying the area of alphabet letter.
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DC motor control board with the capability to
adjust speed and acceleration by software.
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3 degree of freedom.
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Multi
task system controlling (Independence of his motion and movement of arm
and wrist)
- Extra infra-red sensors to support navigation
- Precise feedback systems for measuring the
movement of wheels and arm.
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Movies: |
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Download hero2.wmv (265KB) |
Download hero2.wmv (538 KB) |
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Download hero3.wmv (620KB) |
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Pictures: |
Click on each picture to view full size. |
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