Andy Chang National Instruments

Brittany KillenDrexel Autonomous Systems Lab

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

4-Pin Readout (RX-28) vs.3-Pin Readout(MX-28)

300 Degrees Rotation(RX-28) vs. 360 Degrees Rotation(MX-28)

Main Differences Between RX-28 and MX-28

Approach

Communication to Darwin-OP

Results

One of the subVI’s used to control the position of the motors at one point in time

Getting the Darwin-OP to Work in LabVIEW

Results

A sample of the code used to get the Darwin-OP to work with a game console

Communication lines with the sub-controller

Take already made code and port over to internal system

Generate autonomous control (compared to game console control)

Current Work On Darwin-OP

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 PIRESimulated Robotics

SoftwareReal-time Robotics

Software

Simulated Sensor Driver

Simulated Actuator Driver

Software

Simulator

Simulated SensorModel

Simulated ActuatorModel

Real-time Sensor Driver

Real-time Actuator Driver

Software

Hardware

Robotics Sensor Robotics Actuator

FPGA

Real-time

Sensor DriversHardware Abstracted I/O Layer

Robotics Software File I/O, VISA I/O, DAQ I/O, …

Future Aspirations with PIRE

Thank You!