Motivation Dogs are incredibly popular, 75 million in US.
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Transcript of Motivation Dogs are incredibly popular, 75 million in US.
Motivation
• Dogs are incredibly popular, 75 million in US
Motivation
• There are many health benefits to having pet dogs– Physiological: reduced stress, lower blood
pressure– Emotional: loneliness, comfort– Social: topic of conversation, family bonding
Motivation
• Some people are restricted from dog ownership– Apartment (on-campus, other)– Allergies– Costs
• Downsides of dog ownership– Constant attention– Responsibility– Destruction of property
Solution: RoboDog
• Advantages of a synthetic pet– Virtually no recurring costs– Much lower responsibility requirements• Great for children!
– No food or medical attention required– No excessive barking– No destruction of the home• Poop on the carpet• Chewing
Problem Overview
• RoboDog is built on an AmigoBot with a top-mounted Kinect sensor
• Capabilities– Wander– Identify tennis ball– Grab tennis ball– Identify human (through marker)
Implementation Overview
• Sensing– Ball/Human Detection– Obstacle Detection– Odometry of AmigoBot
• Thinking – State machine
• Acting– Wander Straight– Wander Turn– Drive to Ball/Human– Manipulate Ball
Challenges
• Vision – Hough circle detection– Lighting
Challenges
• ROS-OpenCV communication• Environmental noise– Yellow objects– Aimed Kinect downward to reduce external noise
Conclusion
• Sensing: detects ball and human• Thinking: state machine• Acting: retrieves the ball• Successful implementation and integration of
all sub-components• It works!