Quadruped Walking Robot

“Mini-Dog”Special Sensor

Frank Bergschneider IMDL EEL5666 March 12, 2013

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Objective System Overview Hardware Software Test Data Future Work

Color Tracking Vision System

Frank Bergschneider EEL5666 IMDL

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Objective: Follow a leader using quadruped locomotion and a color tracking vision system

Special Sensor: Droid IP Webcam

Color Tracking Vision System

Frank Bergschneider EEL5666 IMDL

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Special Sensor: Motorola Droid Camera

System Overview

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Camera: Motorola Droid Android v2.2.3, Arm Cortex A8 550 MHz Processor, 5MP camera

Router: Linksys WRT54GL Wireless Broadband Laptop: Gateway MS2274 with 64 bit Windows 7 Bluetooth:

◦ Funspark BlueSMiRF Silver◦ Generic USB Bluetooth Dongle

Microcontroller: ATxmega128A1U

Hardware

Frank Bergschneider EEL5666 IMDL

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Droid: IP Webcam App – Video over IP Laptop:

◦ IP Camera Adapter – network camera adapter ◦ ManyCam Virtual Webcam – “mount” virtual webcam◦ C++ MS Studio with OpenCV Library – access stream

Note: Virtual webcam doesn’t show up in Device Manager Lag and decreased resolution could be issues

Software

Frank Bergschneider EEL5666 IMDL

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Neon Green HSV: 48-53 ; 200-230; 225-250 Pixel Threshold for Target Presence X Position: Scaled Center of Mass -> Direction

Test Data

Frank Bergschneider EEL5666 IMDLhttp://en.wikipedia.org/wiki/File:Hsl-hsv_models.svg

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Robust Color Handling Target Distance Estimation Virtual Router by Chris Pietschmann

Future Work

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Questions?

Frank Bergschneider EEL5666 IMDL