Vision-Based SLAM Robot Spider: An Undergraduate Project of Advanced Robotics of Bachelor of Technology

Caleb Beckwith, Shaojin Zhang, S. Esche, Zhou Zhang
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引用次数: 2

Abstract

Bachelor of Technology (B.Tech) of robotics is a skill-oriented degree, and the students are usually not well-prepared both in theoretical knowledge and the opportunities to reach cutting-edge technologies. To overcome the above two difficulties, some challengeable projects are designed as the undergraduate projects of B.Tech of robotics. Among them, a SLAM robot spider is implemented. This project employed robotics vision, PID control, dynamics, kinematics, and additive manufacturing. Its structure is fabricated through additive manufacturing. The skeleton is composed of three main parts: six legs, torso, and head. Each leg has three joints which are driven by servo motors. The torso is used to mount the sensors, control modules, communication modules, and power source. The ‘NVIDIA Jetson Nano’ is used to control the motors, manage the communication interfaces, and process the sensing data. The ‘Intel RealSense depth camera’ and ’Intel RealSense tracking camera’ are used to futile the task of SLAM. The depth camera is used to acquire depth data to generate 3D point clouds. The tracking camera is an auxiliary reference to help to steer and to locate the position. Besides, an iPad tablet is used to provide a manual control option and render the scene in real-time.
基于视觉的SLAM机器人蜘蛛:高级机器人工学学士本科课题
机器人技术学士学位(B.Tech)是一个以技能为导向的学位,学生通常在理论知识和接触尖端技术的机会方面都没有做好充分的准备。为了克服以上两个困难,设计了一些具有挑战性的项目作为B.Tech的机器人本科项目。其中实现了一个SLAM机器人蜘蛛。该项目采用了机器人视觉、PID控制、动力学、运动学和增材制造。其结构是通过增材制造制造的。骨架由三个主要部分组成:六条腿、躯干和头。每条腿有三个关节,由伺服电机驱动。躯干用于安装传感器、控制模块、通信模块和电源。NVIDIA Jetson Nano用于控制电机、管理通信接口和处理传感数据。使用“英特尔RealSense深度相机”和“英特尔RealSense跟踪相机”来完成SLAM任务。利用深度相机获取深度数据,生成三维点云。跟踪摄像机是辅助参考,以帮助转向和定位的位置。此外,使用iPad平板电脑提供手动控制选项并实时渲染场景。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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