Tilting Hokuyo

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Revision as of 07:58, 8 October 2009 by Advaitjain (Talk | contribs)

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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.

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