vega_darwin
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
vega_darwin [2019/03/28 20:03] – [Source Code] faustovega | vega_darwin [2019/04/09 14:07] (current) – [Annotated References] yuhanghe | ||
---|---|---|---|
Line 2: | Line 2: | ||
- | **Author:** Fausto Vega **Email:** < | + | **Author:** Fausto Vega **Email:** < |
\\ | \\ | ||
- | **Date:** Last modified on <3/28/19> | + | **Edited By:** Norberto Torres-Reyes **Email:** < |
+ | \\ | ||
+ | **Date:** Last modified on <04/01/19> | ||
\\ | \\ | ||
**Keywords: | **Keywords: | ||
Line 25: | Line 27: | ||
\\ | \\ | ||
* This tutorial may also attract readers who are interested in teleoperation and humanoids | * This tutorial may also attract readers who are interested in teleoperation and humanoids | ||
+ | \\ | ||
</fc> | </fc> | ||
\\ | \\ | ||
Line 39: | Line 41: | ||
For a background on the Darwin OP basics and a more in depth explanation of network programming refer to the following tutorials: | For a background on the Darwin OP basics and a more in depth explanation of network programming refer to the following tutorials: | ||
| | ||
- | | + | |
Line 45: | Line 47: | ||
The following folders contain the code used to implement this type of control. It is based off a client server model also know as network programming. In this model, there is a client which connects to the other platform, and the server which makes the request for information from the client. This will allow the two computers inside the Darwin OP’s to communicate over a network. In this case, instead of sending a text message from computer to computer as the original program does, we modified the code to send Dynamixel position values from one platform to the other. | The following folders contain the code used to implement this type of control. It is based off a client server model also know as network programming. In this model, there is a client which connects to the other platform, and the server which makes the request for information from the client. This will allow the two computers inside the Darwin OP’s to communicate over a network. In this case, instead of sending a text message from computer to computer as the original program does, we modified the code to send Dynamixel position values from one platform to the other. | ||
+ | | ||
+ | | ||
+ | |||
- | {{wiki: | ||
=====Instructions===== | =====Instructions===== | ||
Line 83: | Line 87: | ||
===Step 4: Run your Program=== | ===Step 4: Run your Program=== | ||
- | Run the server program first by accessing the command prompt, | + | Run the server program first by accessing the command prompt, |
+ | sudo su | ||
+ | | ||
+ | Next, press the reset button on the Darwin OP. | ||
+ | \\ | ||
+ | Then, navigate | ||
| | ||
- | |||
The 5000 is the port we are using to communicate. | The 5000 is the port we are using to communicate. | ||
- | Run the client robot by accessing the command prompt, | + | Run the client robot by accessing the command prompt, |
- | | + | sudo su |
+ | | ||
+ | Next, press the reset button on the Darwin OP. | ||
+ | \\ | ||
+ | Then, navigate | ||
+ | | ||
This command specifies the IP address of the server robot and the port number. If this command is not working, check the IP address of the server Darwin with the following command: | This command specifies the IP address of the server robot and the port number. If this command is not working, check the IP address of the server Darwin with the following command: | ||
| | ||
- | Then insert it for the IP address (192.168.50) in the command above. | + | Then insert it for the IP address (192.168.50.75) in the command above. |
===Step 5: Checking the Network=== | ===Step 5: Checking the Network=== | ||
Line 124: | Line 135: | ||
+ | ====== Telerobotics Annotated Bibliography ====== | ||
+ | **Author:** Jean Vaz, Fausto Vega and Yu Hang **Email:** < | ||
+ | \\ | ||
+ | **Date:** Last modified on 04/04/19 | ||
+ | \\ | ||
+ | **Keywords: | ||
+ | \\ | ||
+ | ===== Papers ===== | ||
+ | {{dylanw: | ||
+ | ===== Annotated References ===== | ||
+ | |||
+ | **1.** [[http:// | ||
+ | Publisher: 13th Symposium on Advanced Space Technologies in Robotics and Automation, 2015. | ||
+ | Keywords: Humanoids, telerobotics, | ||
+ | |||
+ | Mallwitz, M., Will, N., Teiwes, J. and Kirchner, E.A., 2015. The capio active upper body exoskeleton and its application for teleoperation. In Proceedings of the 13th Symposium on Advanced Space Technologies in Robotics and Automation. ESA/Estec Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA-2015). ESA. | ||
+ | |||
+ | This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, | ||
+ | |||
+ | From the state-of-the-art, | ||
+ | |||
+ | The paper presents the following theoretical principles: tele-operation parameters & input/ | ||
+ | |||
+ | From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: | ||
+ | |||
+ | I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and " | ||
+ | However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader. | ||
+ | |||
+ | Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; | ||
+ | |||
+ | **2.** [[http:// | ||
+ | Publisher: Humanoids 2017\\ | ||
+ | Keywords: Humanoid Robot, Exoskeleton, | ||
+ | |||
+ | Sinha, A.K., Sahu, S.K., Bijarniya, R.K. and Patra, K., 2017, December. An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton. In 2017 2nd International Conference on Man and Machine Interfacing (MAMI) (pp. 1-6). IEEE. | ||
+ | |||
+ | This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, | ||
+ | |||
+ | From the state-of-the-art, | ||
+ | |||
+ | The paper presents the following theoretical principles: tele-operation parameters & input/ | ||
+ | |||
+ | From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: | ||
+ | |||
+ | I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and " | ||
+ | However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader. | ||
+ | |||
+ | Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; | ||
+ | |||
+ | |||
+ | **3.** [[http:// | ||
+ | Publisher: Humanoids 2017\\ | ||
+ | Keywords: Humanoid Robot, Exoskeleton, | ||
+ | |||
+ | Sinha, A.K., Sahu, S.K., Bijarniya, R.K. and Patra, K., 2017, December. An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton. In 2017 2nd International Conference on Man and Machine Interfacing (MAMI) (pp. 1-6). IEEE. | ||
+ | |||
+ | This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, | ||
+ | |||
+ | From the state-of-the-art, | ||
+ | |||
+ | The paper presents the following theoretical principles: tele-operation parameters & input/ | ||
+ | |||
+ | From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: | ||
+ | |||
+ | I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and " | ||
+ | However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader. | ||
+ | |||
+ | Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; | ||
+ | |||
+ | **4.** [[http:// | ||
+ | Publisher: Humanoids 2017\\ | ||
+ | Keywords: Humanoid Robot, Exoskeleton, | ||
+ | |||
+ | Sinha, A.K., Sahu, S.K., Bijarniya, R.K. and Patra, K., 2017, December. An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton. In 2017 2nd International Conference on Man and Machine Interfacing (MAMI) (pp. 1-6). IEEE. | ||
+ | |||
+ | This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, | ||
+ | |||
+ | From the state-of-the-art, | ||
+ | |||
+ | The paper presents the following theoretical principles: tele-operation parameters & input/ | ||
+ | |||
+ | From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: | ||
+ | |||
+ | I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and " | ||
+ | However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader. | ||
+ | |||
+ | Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; | ||
+ | |||
+ | |||
+ | **5.** [[http:// | ||
+ | Publisher: Humanoids 2017\\ | ||
+ | Keywords: Humanoid Robot, Exoskeleton, | ||
+ | |||
+ | Sinha, A.K., Sahu, S.K., Bijarniya, R.K. and Patra, K., 2017, December. An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton. In 2017 2nd International Conference on Man and Machine Interfacing (MAMI) (pp. 1-6). IEEE. | ||
+ | |||
+ | This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, | ||
+ | |||
+ | From the state-of-the-art, | ||
+ | |||
+ | The paper presents the following theoretical principles: tele-operation parameters & input/ | ||
+ | |||
+ | From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: | ||
+ | |||
+ | I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and " | ||
+ | However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader. | ||
+ | |||
+ | Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; | ||
+ | |||
+ | |||
+ | **6.** [[http:// | ||
+ | Publisher: Humanoids 2017\\ | ||
+ | Keywords: Humanoid Robot, Exoskeleton, | ||
+ | |||
+ | Sinha, A.K., Sahu, S.K., Bijarniya, R.K. and Patra, K., 2017, December. An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton. In 2017 2nd International Conference on Man and Machine Interfacing (MAMI) (pp. 1-6). IEEE. | ||
+ | |||
+ | This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, | ||
+ | |||
+ | From the state-of-the-art, | ||
+ | |||
+ | The paper presents the following theoretical principles: tele-operation parameters & input/ | ||
+ | |||
+ | From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: | ||
+ | |||
+ | I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and " | ||
+ | However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader. | ||
+ | |||
+ | Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; | ||
+ | |||
+ | 7. [[https:// | ||
+ | Publisher: IEEE Transactions on Biomedical Engineering 2012\\ | ||
+ | Keywords: Biomedical Engineering, | ||
+ | |||
+ | T. Lenzi, S. M. M. De Rossi, N. Vitiello and M. C. Carrozza, " | ||
+ | |||
+ | This paper describes using Electromyographical (EMG) signals to control an elbow powered exoskeleton. | ||
+ | |||
+ | From the state-of-the-art, | ||
+ | |||
+ | The paper presents the following theoretical principles: (1) The central nervous system' | ||
+ | |||
+ | The principles are explained fairly. | ||
+ | |||
+ | From the principles and results, the paper concludes: (1) a proportional EMG control applied to exoskeleton is sufficient to provide movement assistance; (2) subjects were able to maintain control of movement and accuracy of movement in both amplitude and frequency; and (n) subjects were able to adapt to the assistance provided by exoskeleton in short periods of time (a few seconds). | ||
+ | |||
+ | I liked this paper because the authors were able to arrange experimentation that provided positive experimental results that support their hypothesis. I disliked this paper because the author made assertive conclusion based on a narrow experimentation arrangement. The experiment only focused on one degree-of-freedom elbow movement. Furthermore, | ||
+ | Three things I learned from this paper were: (1) the limitation of EMG signal in estimate muscular torque; (2) the limitation of extensive session and individual-dependent calibration process for assistive technology; | ||
+ | and (3) central nervous system' | ||
vega_darwin.1553828589.txt.gz · Last modified: 2019/03/28 20:03 by faustovega