Jason CarterCarlos Torres

Advisor: Camillo J. TaylorGrad Student: Anthony Cowley

SUNFEST 2010SUNFEST 2010NSF REU Site

Introduction◦ What we did?◦ Why?

Process◦ How we accomplished this?p

Outcome◦ What happened?

Video

Joystick control vs. Human Body ControlTeleoperationp◦ Map the human body onto a dexterous Robot◦ Use the robot to perform complex, dangerous tasks

Examples◦ IRobot “Urbie”◦ Foster Miller “Talon”

Vicon HMD

Computer(Program Code)

PR2PR2

Uses 3D model of HMDOutputs HMD positionUses an array of IR cameras

Vuzix Wrap 920

Two display; one in each lenslens◦ 640x480 resolution

Six motion tracking markers added

•Modular software architecture, ROS (Robot , (Operating System)

•Multiple sensors and•Multiple sensors and actuators

C b l d•Can be teleoperated through joystick

ROS◦ Robot Operating System◦ Modular design◦ Open Source◦ Open SourcePython & C++

Program◦ Receive position information from Vicon◦ Convert Vicon measurements to PR2 commands◦ Send video from PR2 to computer

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Components Used:◦ PR2◦ Vicon◦ HMDHMD

Dr. C.J. TaylorAnthony CowleyDr. Van der Spiegel

Summer Undergraduate Fellowship in Sensor T h l i (S f t)Technologies (Sunfest)National Science Foundation (NSF)Advancing Robotics Technology for SocietalAdvancing Robotics Technology for Societal Impact (ARTSI)