Transcript PIRE with National Instruments

PIRE WITH INDUSTRY PARTNERS
Brittany Killen
Drexel Autonomous Systems Lab
Andy Chang
National Instruments
Background
 Simulations for Mini-Hubo in Virtual Environment
 Humanoid Manipulation Challenge
 CAD Design
Background
 Trip to South Korea
 -KAIST
 -ROBOTIS
 -ETRI
 -DGIST
 -KIST
 -Hanyang University
Co-op at National Instruments
 Objectives:
-Enable NI
Software to work
with Darwin-OP
-Develop walking
algorithms and
programs that the
Darwin-OP can use
Co-op at National Instruments
 Motivations:
-Learn and educate others about the PIRE
Project and its goals
-Get to work with industry/corporations to
develop humanoid research
-Get a “real-world” approach to project
-Work with a platform based off of the
Mini-Hubo project
-Use PIRE research to help create this new
product
Co-op at National Instruments
Approach
This image shows a LabVIEW program
developed at National Instruments to
control the Robotis RX-28 Dynamixel
actuators.
A LabVIEW code developed that allows
multiple motors to run automatically
based on the function of a sine wave.
Approach
An image of a LabVIEW program that can control
position of the new MX-28 Dynamixel Actuators.
Approach
Main Differences Between
RX-28 and MX-28
300 Degrees
Rotation(RX-28) vs.
360 Degrees
Rotation(MX-28)
4-Pin Readout (RX-28) vs.3-Pin Readout(MX-28)
Approach
Communication
to Darwin-OP
Results
Getting the Darwin-OP to Work in LabVIEW
One of the subVI’s
used to control
the position of
the motors at one
point in time
Results
A sample of the
code used to get the
Darwin-OP to work
with a game console
Current Work On Darwin-OP
 Communication lines with the sub-controller
 Take already made code and port over to
internal system
 Generate autonomous control (compared to
game console control)
NIWeek
 “NIWeek, the annual
customer and technology
conference held at the
Austin Convention Center in
Austin, Texas is the
industry's premier event on
graphical system design,
bringing together over 3,000
of the world's brightest
engineers, educators, and
scientists.”
-National Instruments
NIWeek
 http://www.youtube.com/watch?v=
Pu95KXA8uDw&feature=related
NI Experience with PIRE Partners
Future Aspirations With PIRE
File I/O, VISA I/O,
Simulated Robotics Software
Robotics Software
Real-time Robotics
Software
DAQ I/O, …
Hardware
Abstracted
I/OActuator
Layer
Simulated Sensor
Simulated
Driver
Driver
Software
Simulator
Real-time
Sensor Drivers
Real-time Actuator
Sensor
Driver
Driver
Software
Hardware
FPGA
Simulated Sensor
Model
Simulated Actuator
Model
Real-time
Robotics Sensor
Robotics Actuator
Future Aspirations with PIRE
Thank You!