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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)