andy chang national instruments brittany killen drexel autonomous systems lab
TRANSCRIPT
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Andy Chang National Instruments
Brittany KillenDrexel Autonomous Systems Lab
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Background Simulations for Mini-Hubo in Virtual
Environment Humanoid Manipulation Challenge CAD Design
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Background
Trip to South Korea -KAIST -ROBOTIS -ETRI -DGIST -KIST -Hanyang University
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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
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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
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Co-op at National Instruments
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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.
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Approach
An image of a LabVIEW program that can control position of the new MX-28 Dynamixel Actuators.
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Approach
4-Pin Readout (RX-28) vs.3-Pin Readout(MX-28)
300 Degrees Rotation(RX-28) vs. 360 Degrees Rotation(MX-28)
Main Differences Between RX-28 and MX-28
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Approach
Communication to Darwin-OP
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Results
One of the subVI’s used to control the position of the motors at one point in time
Getting the Darwin-OP to Work in LabVIEW
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Results
A sample of the code used to get the Darwin-OP to work with a game console
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Communication lines with the sub-controller
Take already made code and port over to internal system
Generate autonomous control (compared to game console control)
Current Work On Darwin-OP
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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
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NIWeek
http://www.youtube.com/watch?v=Pu95KXA8uDw&feature=related
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NI Experience with PIRE Partners
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Future Aspirations With PIRESimulated Robotics
SoftwareReal-time Robotics
Software
Simulated Sensor Driver
Simulated Actuator Driver
Software
Simulator
Simulated SensorModel
Simulated ActuatorModel
Real-time Sensor Driver
Real-time Actuator Driver
Software
Hardware
Robotics Sensor Robotics Actuator
FPGA
Real-time
Sensor DriversHardware Abstracted I/O Layer
Robotics Software File I/O, VISA I/O, DAQ I/O, …
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Future Aspirations with PIRE
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Thank You!