Friday Night Robotics!

Posted by Erin, the RobotGrrl on Saturday, November 15th, 2008

This is my Hockey MANOI work in progress robot. It needs a lot of improvement before I actually take it outside (hopefully there won’t be snow by then). It’s using a plastic stick that I found lying around (check out the pics)

So far it’s going okay, I guess. Trying to make a robot balance with many moving parts is difficult though, and really exhausting. There’s lots of things that I’ll need to fix… The program is basically a sequence of movements:

- Forward 6 times
- Shoot 3 times
- Backward 6 times
- Shoot 3 times

The Forward and Backward movements do vary slightly, but they both result in the robot going backwards. I’m trying to think of a way to fix it that will be the best way, like attaching a few heavy rocks to the front of the robot won’t be the best way in this case. Once the robot shoots after going Backward, there’s too much movement and it falls over.

I’ll probably have an if statement in the Shoot movement asking what was the last movement. If it was backwards, the shot will be more slow and less intense so it won’t tip over.

The stick also has to be mounted better… it moves WAY too much =P (those tie wraps serve no purpose)

Despite all of the falling over, it’s fun to be trial’ing and error’ing to see how the robot can balance And it’s working off of an Arduino! I plan to add the Wave Shield, with some hockey sounds/songs that MANOI can play — there will also be a FSR on the stick so the robot will know if it should shoot or not

Posted in: MANOI, Projects, Robot.

SOFREEZINGCOLD

Posted by Erin, the RobotGrrl on Tuesday, November 11th, 2008

ITS SO FREEZING COLD! I think I’m gonna transform into an ice-cube!! ZGG!

Speaking of cold… You know when you first start to skate, you pretend you’re walking? You hardly go anywhere, but you do go somewhere because of the friction… My robot can now do that! I was playing around with MANOI, gave him some roller-skates (actually: lego wheels), and programmed it in. After a few trials and errors, it works! MANOI now can look like a goofy Canadian newbie skater. SWEET!

I’m trying to find a small hockey stick that I can tape to its hands, but I have a feeling Ill have to make one myself. Carving it will be okay, I’m just worried about how I would make it thin- like half an inch. I’ll probably use one of the sanding power tools to do that (since I don’t want to saw my hand off (or fingers (but then again, they may just fall off because I’m SOFREEZINGCOLD (wow this is a lot of nested brackets (LOL))))).

I hope to play hockey with my ‘bot on Saturday… this will be interesting!

I updated my blarg to Wordpress 2.7 B2, and stylized a new theme! I’m not sure what I should name that lonely RSS elephant over on the right though. Syndie, the syndication elephant? LOL!

Posted in: MANOI, Projects, Robot.

Friday Night Robotics

Posted by Erin, the RobotGrrl on Saturday, November 8th, 2008

Yay!! Tonight I worked on my new/old robot… It’s the robot with the chassis of the Stanley robot that I started making at Stanford in the summer. It has a gerabox to power two motors for front wheel drive, plus there’s a servo to “steer” the gearbox.

The cool part is that I use a Wii nunchuck to control the robot Tonight I coded in which way is which- tilted to the left/front/back/right. The tilt to the back doesn’t work very often, so I have to fix it
By this point, you’re probably wondering where the pictures are I can’t upload photos with this version of wordpress (and I’m too sleepy to ftp them right now), but I’ll add them in tomorrow as I’m changing my blog to Wordpress 2.7 tomorrow, with a new theme I really really really like the new theme. It’s going to be awesome!

Posted in: Programming, Projects, Robot.

Rodney’s Robot Revolution

Posted by Erin, the RobotGrrl on Saturday, November 1st, 2008

There was a pretty awesome TV special a few nights ago- Rodney’s Robot Revolution. It was on “The Nature of Things”. Here’s the summary they give on their site:

As former head of the Massachusetts Institute of Technology, Computer Science and Artificial Intelligence Lab, Professor Brooks is once again going to test his robot-building mettle with what has become the most challenging project of his entire career: to build a robot for the Pentagon capable of playing an ancient Chinese board game of GO against a human opponent. Brooks has only five months to build it from scratch, making his challenge that much more outrageous.

The premise of the show surrounded Rodney Brook’s project for the government- to build a social robot that will play go…. in nine months! (For some reason the CBC website says 5 months, but I clearly heard 9 months, three or four times).
I think he did have some students help- at least he did with the hand part that needed to pick up the pieces. The hand consisted of two fingers, with special force sensing resistors on them. The fingers was pretty good at first- it worked often. Afterwards, they placed a cover on the two fingers with bumps on it so that the piece would remain grasped until placed onto the board. It didn’t work often- it couldn’t pick up the pieces.

The other main parts of the robot was the computer vision. It used two off the shelf logitech cameras as eyes, and it had a few more stationary cameras around to get different views of the board. The eyes were mounted on a metal part that served as a face, which could move. At one point, the robot almost fell off the table because the movements were too quick, and not fluid.

The only part that seemed a little wonky was when they mentioned that robotics is a competitive industry. The jist of the message was that other places like Google, Sony, and Honda are competing with MIT’s robotics. I kind of laughed at that… as MIT is a university, not a company. They weren’t just comparing an apple with an orange, they were comparing an apple with a pineapple. Either way, Sony’s Aibo robot is a distant past, and Asimo has sort of been around for a long time- just evolving and improving! As for Google… errrrr. I thought we were talking about physical robots here? Lol! I think what they meant to portray was that there are other places that are R&D’ing robotics.

The part that I found quite interesting was that even though each of the “sections” of the robot worked okay- like the hand, the computer vision, the algorithms, they weren’t combined to work with each other very well. What I mean by that is… there was too much focus on creating the basics perfectly, instead of just building a simple model first, and improving on it with milestones. If it would have been done this way, there would have been something to demonstrate at the end that would work. It’s better to have something that works, even though it doesn’t meet the requirements, than something that meets the requirements but doesn’t work.

First start off with giving the robot the piece, and start off with all the cameras stationary. The robot can still be sociable even if the cameras aren’t in the eyes (for some reason, this seems to be a common misjudgment). Once that stage is working, make a hand that will have to move the piece. Then make it pick up the piece. After that works, then go on to moving the cameras, and finish up by adding a sociable touch.

It’s almost like the difference between the old macbookpros and the new ones. The old ones were created by putting pieces together, the new ones are created by taking material away. My suggested method is like taking all the possible difficulties away, one by one. If you only put pieces together, you’ll miss out on many opportunities to improve and optimize the robot. Additionally, there were no backup plans. If the robot didn’t have a pebble, it wouldn’t go back to pick another one up. It happens all the time in games between humans… the pieces are small and glossy, seriously!

9 months (or even 5 months) is a lot of time- especially when you have all the resources, and people that are eager to help out.

If I would have built the robot, I would have used an octopus-like suction cup to pick up one of the pieces. The location of the cameras would have been different… and the base would be bigger so it wouldn’t tip over. Plus, my method would have been different, as discussed above.

There’s another neat TV show soon, Five Years on Mars! National Geographic channel, Sunday Nov 2!
Don’t forget about Daily Planet too… my fav TV show that’s on at 7pm each weekday (Discovery Channel)

Posted in: News, Robot News.

iPhone!!

Posted by Erin, the RobotGrrl on Saturday, October 18th, 2008

I got an iPhone yesterday!!! Yay!! (belated birthday present)

…Of course, this happiness if a prelude to a TONNE of hard work that I’m going to do. I’ll be developing apps for it!
I’ll still be working on MANOI today though… hopefully finish the Processing - Arduino & SSC-32 program. It’s really difficult!

Maybe I’ll be able to have the iPhone control MANOI some day bahaha

Posted in: MANOI, Other, Programming, Projects, Robot.

Fun Weekend Ahead

Posted by Erin, the RobotGrrl on Friday, September 26th, 2008

This weekend is going to be pretty fun for me
I have soooo many things to play with, it’s going to be wickedly hyper awesome!

I went to the RobotShop and got my Lynxmotion SSC-32, Soldering station, and some female jumper wires, and a force sensing resistor!
The SSC-32 is awesome! I tried it out the other day, and my MANOI is ALIVE! I made it move its head
The only thing though is that I’ll have to power all the servos externally - which is okay now as I got a 12V DC transformer to plug into the breadboard
The soldering iron is horrible I was (and still am) trying to solder the Wave Shield, but the solder won’t stick to the iron So far it has taken me 3 hours (and counting) just to solder in the resistors. The iron doesn’t melt the solder, and the flux is GOOEY! It’s disgusting! I’m even trying lead solder (this stuff SUCKS) and it won’t work… going to try to sand the tip tomorrow, and see if it works better.

The old soldering iron literally exploded… so it’s in the garbage now.

I also bought a nintendo wii nunchuck (the accelerometer thing) to go with my WiiNunchuck Arduino adapters. I’ll be using it to control MANOI (and of course, many Processing programs)

I was playing around with the Fourier transform again today… and I somehow made it to morph time. It’s really freaky! I was recording sound, when my watch beeped. When I played back the sound (after the FFT alg) it was morphed… in a totally weird and unexplainable way XD kind of sped up, but also kinda moshed together…

This entire week I’ve been studying for the SAT. This pretty much involves me trying to sit in one place, focus on one thing, and not fall asleep/daydream for 4 ENTIRE HOURS! I just can’t stay focused that long… I make so many sleepy mistakes … I have absolutely no idea what to do. The real SAT is on October 4th (in 1 week) I’m not really in a panic as the test is so trivial and boring … I just can’t focus on one thing for more than 45 minutes! My brain is always in hyperdrive mode thinking about what ifs and whys… “Why exactly do they think this test evaluates your reasoning abilities” “What if they made this test interactive, like a game, on a computer?”

I’ve been asking what if and why a lot the past week… here’s some of the questions I can remember

What if time wasn’t measured in anything… but was just a continuous flow like a river
Why do we have to measure time?
Why do we always use graphs in two dimension? I don’t care about a squiggle function on a line… why can’t everything be graphed in 3 dimensions?
Why do we always round decimal points when it’s obvious it gives us inaccurate answers?
Why is the tinfoil on my lamp making high pitched noises like vibrations? Is it because of the heat… or did I just discover something I should look into further about light?
What if light had mass?
Why don’t we know what’s in/through a black hole?
What if we could make our own net of space and see how everything interacts with anything?
Why didn’t they put more corrector magnets into the LHC?
What if the computer isn’t monitoring enough information to really see what the Higgs is like?
What happens if they’re smashing the wrong particles together?
Why can’t they just model it on a computer?
Why is the LHC in a circle?
What would happen if it was in a spiral?
Why are my desks always messy?
What will happen when robots will become pets?
Why are people so judgemental about robots?
Why are robots stereotyped to be wirey and ugly?
What if the answer to better AI systems would be to create an “AI Internet” with many algs, and an API, to create a general AI?
What if cancer can be eliminated with the use of dandelions?
What if robots could code themselves and make better versions of their algorithms?
Why is random not random?
What if there were many robots in one square, and they were given random coordinates to navigate to and from? Would it be classified as swarm robots as eventually they will all converge?
What if I made a parrot robot that could read twitter feeds out loud, in a parrot voice?

So yeah… that’s pretty much the way I think all the time… I hardly can focus on one thing, ever!

Weeeee I can’t wait to get MANOI moving and waving this weekend!

Posted in: MANOI, Other, Programming, Projects, Robot, School.

More BubbleBoy

Posted by Erin, the RobotGrrl on Monday, September 8th, 2008

Even more BubbleBoy awesomeness

And here’s the circuit diagram!

I hope I entered crabfu’s most characterful robot contest correctly. The deadline said: 09/08/08 at midnight — but it almost sounds as if it’s already closed and so now I’m so worried that I didn’t even enter and I won’t even be considered so therefore I wouldn’t stand a chance :’( I HATE TIMEZONES!!! :( Let’s just all hope that it is entered in the contest…
Update: Everything is okay. I’m entered in the contest!

Posted in: Projects, Robot.

BubbleBoy Finished

Posted by Erin, the RobotGrrl on Thursday, September 4th, 2008

Yay! BubbleBoy is finished (version 1). Briefly, BubbleBoy was created to demonstrate emotions and their applications in robotics. BubbleBoy has a food and water level, and when averaged out, a health level. The mood is determined by the health level. There are 10 moods, each of which BubbleBoy has a little ‘action set’ with. This is to try to get more food! After the ‘action set’ is over, you can feed it or give it water. When the food/water button is pressed, it increases the food/water level by a random int in between a lower bound and upper bound. Also, when BubbleBoy finishes three ‘action sets’, it becomes more hungry and thirsty - thereby decreasing the food/water levels. So, BubbleBoy is similar to a ‘tamigotchi’. It was fun to make- BB has 2 servos, 2 DC motors, 2 buttons, 4 LEDs, 1 LDR, and 1 LCD. All of these are controlled by the Arduino board.

The source code is here! There are no comments in the code yet (they’re all in my brain at the moment, haha).

Although I said (on Wednesday) that this was going to be posted tomorrow… it’s actually early Friday. BUT, since I haven’t slept yet, it’s still Thursday to me :] I had so much trouble getting the footage from the tape recorder onto the mac! It seemed to be like technical difficulty after technical difficulty the entire time. I’ll post more details tomorrow about the schematics… to be honest I forgot if I used pull up resistors or not! So I have to check…

All the awesome pictures! The plastic was painted green, and the push buttons were created

There’s BubbleBoy!
The future versions will employ ‘expectations’. For instance, when BB is fed, it will record the LDR value. If after three action sets and the LDR value is the same… it will expect to be fed! If it’s not fed, then it will become more hungry or thirsty since it was somewhat ‘disappointed’ because it wasn’t fed.
Schematics and fancy vocabularized blurb tomorrow

Posted in: Projects, Robot.

BubbleBoy’s Hello World!

Posted by Erin, the RobotGrrl on Monday, August 18th, 2008

Woooaah! I wanted to make this blog post yesterday, but there was an insane storm! So I’ll just fake the date as Monday even though it’s Tuesday.
I’ve been working on BubbleBoy a bit, and I’ve got it to a state where it is Hello World!
Here are pictures of the progress!

I started out with the BubbleBoy seen a few months ago, then added more and more and more to it, like a DC motor for a hat, a vibrating DC motor for the hula-ring, 2 LEDs and a LDR, two buttons, and the LCD. It doesn’t sound like much, and it really isn’t, but it certainly filled up the inside of the box pretty fast. The box is one of those Sundae ice cream ones.

You might be wondering what the two buttons and LCD are for… the two buttons are for food and water respectively, and the LCD will display BB (bubbleBoy) ’s current mood, thirstiness, hungriness and overall health. The things that will influence BB’s mood will be the LDR, and the thirstiness and hungriness. So, it will sort of be like a physical tamagotchi! The LEDs on BB will indicate if BB becomes thirsty or hungry. If BB is in the dark, the happiness will decrease as it will be “afraid” of the dark.

The bunches of photos above are the calm before the storm of the entanglement of the wires from BubbleBoy to the ProtoShield on the Arduino.

The last photo, above, was when I realized I forgot to plug in the Arduino

Yay! So, it’s all working now and just has to be programmed from the pseudo-code in my head. The main problem I faced was trying to debug the dead DC hat motor… there were so many things that could have been wrong, like the TIP 121, Diode, short circuit, batteries… but I guess I debugged in the right order - saving the snipping of the DC motor until last. The DC motor didn’t work at all, so it was completely dead. Luckily, the other one I had worked just fine
I’m going to have to do a lot of playing around with the hula ring … it doesn’t move as much as I wanted it to I’m also adding a scarf (that I had a nightmare about a few days ago) and eventually will paint the box LIME GREEN
The point of finishing this robot is not only to finish another robot, but I’ll also be entering it into crabfu’s Most Characterful contest. The prize is $100 that can be spent in the TR store… and look what’s really cool there! The Lynxmotion servo serial controller! If I won, I could buy one to replace the two dead Pololu SSC’s to make my MANOI work! =D!!! It would also be handy to have one of these Pan and Tilt devices for Phoenix … It woould also be great to have many FSRs for Phoenix too And a temp sensor! I’m just worried that no one will like BB as it’s pink and tidy ;(

Here’s a video of the hat spinning, and the Hello World program!

more to come soon!

Posted in: Projects, Robot.

I

Posted by Erin, the RobotGrrl on Wednesday, June 18th, 2008

Wall-E is probably the CUTEST robot ever. (Except for my Styrobots, of course!) The way he says his name ‘WwwwaaallLL Eee’ is irresistible.
I see Wall-E everywhere. And, much to my joy one day… I looked out the back window, and I saw Wall-E! This means that at least once per day, I get to see Wall-E! WOOT!

*note: pics taken a long time ago

I really can’t wait until this movie comes out!! Imagine how cool Epcot will be, too. Meet the Robinsons + Wall-E!! It’s quite crazy how Pixar is just doing better and better with each animation they make. I really never thought that anything would be better than Finding Nemo, ever.

One of the things I can’t wait for is the robot! Er well, I can’t wait for me to gently tear apart the robot and hack it OR make it run on an Arduino! How cool would that be?! Having a Wall-E working off of an Arduino, connected to Processing. I could have all sorts of ultrasonic sensors… personalize it… make a conversational program (based off of Robbie the Robot) for it… WOOT!

Check out these two videos - they’re REALLY cool!

Wall-E ROCKS!

Posted in: News, Projects, Robot, Robot News.