Difference between revisions of "Tilting Hokuyo"

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(What this does)
(Hardware)
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**# buy Aluminium channels from http://mcmastercarr.com and drill the appropriate holes.
 
**# buy Aluminium channels from http://mcmastercarr.com and drill the appropriate holes.
 
**# use http://www.mfg.com to get the part manufactured from the CAD file. Will take between a week to 10 days.
 
**# use http://www.mfg.com to get the part manufactured from the CAD file. Will take between a week to 10 days.
 +
** We thank Abhishek Bhatkhande for making the CAD model from the bracket design.
  
 
== Code ==
 
== Code ==

Revision as of 23:26, 11 October 2009

Author

Advait Jain (http://www.cc.gatech.edu/~advait)

What this does

Tilting the Hokuyo using a servo and reading back the servo encoder position while getting scans from the Hokuyo allows us to generate a 3D point cloud of the world in front of the robot. We have used this 3D point cloud for object segmentation, door handle detection etc.

We first used this sensor in this paper: EL-E: An Assistive Mobile Manipulator that Autonomously Fetches Objects from Flat Surfaces. Advait Jain and Charles C. Kemp. Autonomous Robots, 2009. This paper and others can be downloaded from the Heathcare Robotics Lab website (http://www.healthcare-robotics.com)


Pictures of the Setup

Hardware

Image of the solidworks part for the bracket to mount the UTM on to the servo.

This is the hardware setup that we use:

Code