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PIRE with Industry Partners

Brittany Killen Drexel Autonomous Systems Lab. Andy Chang National Instruments. PIRE with Industry Partners. Background. Simulations for Mini-Hubo in Virtual Environment Humanoid Manipulation Challenge CAD Design. Background. Trip to South Korea -KAIST

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PIRE with Industry Partners

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  1. Brittany Killen Drexel Autonomous Systems Lab Andy Chang National Instruments PIRE with Industry Partners

  2. Background • Simulations for Mini-Hubo in Virtual Environment • Humanoid Manipulation Challenge • CAD Design

  3. Background • Trip to South Korea • -KAIST • -ROBOTIS • -ETRI • -DGIST • -KIST • -Hanyang University

  4. Co-op at National Instruments • Objectives: -Enable NI Software to work with Darwin-OP -Develop walking algorithms and programs that the Darwin-OP can use

  5. Co-op at National Instruments • Motivations: -Learn and educate others about the PIRE Project and its goals -Get to work with industry/corporations to develop humanoid research -Get a “real-world” approach to project -Work with a platform based off of the Mini-Hubo project -Use PIRE research to help create this new product

  6. Co-op at National Instruments

  7. Approach This image shows a LabVIEW program developed at National Instruments to control the Robotis RX-28 Dynamixel actuators. A LabVIEW code developed that allows multiple motors to run automatically based on the function of a sine wave.

  8. Approach An image of a LabVIEW program that can control position of the new MX-28 Dynamixel Actuators.

  9. Approach Main Differences Between RX-28 and MX-28 300 Degrees Rotation(RX-28) vs. 360 Degrees Rotation(MX-28) 4-Pin Readout (RX-28) vs.3-Pin Readout(MX-28)

  10. Approach Communication to Darwin-OP

  11. Results Getting the Darwin-OP to Work in LabVIEW One of the subVI’s used to control the position of the motors at one point in time

  12. Results A sample of the code used to get the Darwin-OP to work with a game console

  13. Current Work On Darwin-OP • Communication lines with the sub-controller • Take already made code and port over to internal system • Generate autonomous control (compared to game console control)

  14. NIWeek • “NIWeek, the annual customer and technology conference held at the Austin Convention Center in Austin, Texas is the industry's premier event on graphical system design, bringing together over 3,000 of the world's brightest engineers, educators, and scientists.” -National Instruments

  15. NIWeek • http://www.youtube.com/watch?v=Pu95KXA8uDw&feature=related

  16. NI Experience with PIRE Partners

  17. Future Aspirations With PIRE Simulated Robotics Software Robotics Software Real-time Robotics Software File I/O, VISA I/O, DAQ I/O, … Hardware Abstracted I/O Layer Simulated Sensor Driver Simulated Actuator Driver Real-time Sensor Driver Real-time Actuator Driver Sensor Drivers Software Software Simulator Hardware FPGA Simulated Sensor Model Simulated Actuator Model Real-time Robotics Sensor Robotics Actuator

  18. Future Aspirations with PIRE

  19. Thank You!

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