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On this page, you can find all the available information about the robot - including various technical details etc. | On this page, you can find all the available information about the robot - including various technical details etc. | ||
=== Construction === | |||
The robot has 22 degrees of freedom including two 6DOF hands (the IDs on the left show the motor ID in the low-level communication protocol): | |||
<pre> | |||
1 - right shoulder forward-backward | |||
2 - left shoulder forward-backward | |||
3 - right shoulder lift | |||
4 - left shoulder lift | |||
5 - right elbow | |||
6 - left elbow | |||
19 - head rotate | |||
20 - head lift | |||
21 - right shoulder left-right | |||
22 - left shoulder left-right | |||
30 - controller in the right hand with palm sensor | |||
31 - right wrist rotate | |||
33 - right wrist left-right | |||
34 - right thumb lift | |||
35 - right thumb close | |||
36 - right index finger | |||
37 - right other fingers | |||
40 - controller in the left hand with palm sensor | |||
41 - left wrist rotate | |||
43 - left wrist left-right | |||
44 - left thumb lift | |||
45 - left thumb close | |||
46 - left index finger | |||
47 - left other fingers | |||
</pre> | |||
=== Software, links documentation === | |||
* NICO Software github repository: [https://github.com/knowledgetechnologyuhh/NICO-software https://github.com/knowledgetechnologyuhh/NICO-software] | |||
** the modifications for 6DOF hand are not available yet | |||
** our local generated API documentation: [https://kempelen.dai.fmph.uniba.sk/nico-api-doc/_build/html/index.html https://kempelen.dai.fmph.uniba.sk/nico-api-doc/_build/html/index.html] | |||
* SeedStudio manual [https://kb.seedrobotics.com/doku.php?id=nico:start https://kb.seedrobotics.com/doku.php?id=nico:start] | |||
* Dynamixel protocol documentation [https://emanual.robotis.com/docs/en/dxl/protocol1/ https://emanual.robotis.com/docs/en/dxl/protocol1/] | |||
* Dynamixel SDK [https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/ https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/] | |||
=== Low level control of motors === | |||
* [[Media:hands_demo.c|hands_demo.c] - simple demo made by modifying an example of DynamixelSDK | |||
=== Vision === | |||
NICO’s head features two parallel See3CAMCU135 cameras with 4K resolution | |||
(4,096 × 2,160). The cameras have an opening angle of 202◦. Via the API, the | |||
camera can be configured to transmit only parts of the image and thus | |||
constrain the field of view to a human opening angle of 70◦. | |||
To simply test the view of the cameras (they create the video devices /dev/video0 - left camera, /dev/video2 - right camera), you can use: | |||
fswebcam --device /dev/video0 imageL.jpg | |||
fswebcam --device /dev/video2 imageR.jpg | |||
or to take pictures and record videos in interactive application: | |||
cheese | |||
__notoc__ | |||
=== Audio === | |||
* Nico's ears contain microphones sampled with high-quality studio-recording equipment with 96 kHz, 24 bit sampling | |||
* Nico's speaker (on the way, coming very soon) |
Revision as of 06:12, 13 October 2021
On this page, you can find all the available information about the robot - including various technical details etc.
Construction
The robot has 22 degrees of freedom including two 6DOF hands (the IDs on the left show the motor ID in the low-level communication protocol):
1 - right shoulder forward-backward 2 - left shoulder forward-backward 3 - right shoulder lift 4 - left shoulder lift 5 - right elbow 6 - left elbow 19 - head rotate 20 - head lift 21 - right shoulder left-right 22 - left shoulder left-right 30 - controller in the right hand with palm sensor 31 - right wrist rotate 33 - right wrist left-right 34 - right thumb lift 35 - right thumb close 36 - right index finger 37 - right other fingers 40 - controller in the left hand with palm sensor 41 - left wrist rotate 43 - left wrist left-right 44 - left thumb lift 45 - left thumb close 46 - left index finger 47 - left other fingers
Software, links documentation
- NICO Software github repository: https://github.com/knowledgetechnologyuhh/NICO-software
- the modifications for 6DOF hand are not available yet
- our local generated API documentation: https://kempelen.dai.fmph.uniba.sk/nico-api-doc/_build/html/index.html
- SeedStudio manual https://kb.seedrobotics.com/doku.php?id=nico:start
- Dynamixel protocol documentation https://emanual.robotis.com/docs/en/dxl/protocol1/
- Dynamixel SDK https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/
Low level control of motors
- [[Media:hands_demo.c|hands_demo.c] - simple demo made by modifying an example of DynamixelSDK
Vision
NICO’s head features two parallel See3CAMCU135 cameras with 4K resolution (4,096 × 2,160). The cameras have an opening angle of 202◦. Via the API, the camera can be configured to transmit only parts of the image and thus constrain the field of view to a human opening angle of 70◦.
To simply test the view of the cameras (they create the video devices /dev/video0 - left camera, /dev/video2 - right camera), you can use:
fswebcam --device /dev/video0 imageL.jpg fswebcam --device /dev/video2 imageR.jpg
or to take pictures and record videos in interactive application:
cheese
Audio
- Nico's ears contain microphones sampled with high-quality studio-recording equipment with 96 kHz, 24 bit sampling
- Nico's speaker (on the way, coming very soon)