1. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Hykim: The Cuddly Rescue Bear Presented by Kymberly Cox University of Newcastle

2. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com IT'S A BEAR!!

3. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com IT'S A ROBOT!!

4. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com IT RUNS LINUX? http://www.product-reviews.net/wp-content/userimages/2007/07/linustorvaldsspeedo.jpg Used with permission from Linus

5. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com IT RUNS LINUX!!

6. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Project History ➢ RoboCup 4 Legged League is based around Sony Aibo. ➢ Attractive competition for Computer Science academics & students as it uses standard hardware, i.e. competition is then purely coding and algorithm based.

7. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Project History ➢ Jan 2006 Sony announced it was ceasing production of the Sony Aibo. ➢ RoboCup issued a Call for Tender for a ‘Standard Robotic Platform’ to replace the 4 Legged League. ?

8. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Project History Collaborative tender was submitted by:

9. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

10. Project History Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Tender consisted of 2 proposals: 1.Robot Dog, and 2.Robot Bear.

11. Project History Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Tender consisted of 2 proposals: 1.Robot Dog, and 2.Robot Bear. Main proposal was the Robot Bear, Why a Robot Bear?

12. Project History Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Tender consisted of 2 proposals: 1.Robot Dog, and 2.Robot Bear. Main proposal was the Robot Bear, Why a Robot Bear? Bear is BIG & STRONG: can handle size & weight of a complex electronic/battery system

13. Project History Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Tender consisted of 2 proposals: 1.Robot Dog, and 2.Robot Bear. Main proposal was the Robot Bear, Why a Robot Bear? Bear is BIG & STRONG: can handle size & weight of a complex electronic/battery system Perform Quadrupedal & Bipedal motions Standing bear has higher viewing perspective

14. Project History Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Tender consisted of 2 proposals: 1.Robot Dog, and 2.Robot Bear. Main proposal was the Robot Bear, Why a Robot Bear? Bear is BIG & STRONG: can handle size & weight of a complex electronic/battery system Perform Quadrupedal & Bipedal motions Standing bear has higher viewing perspective Use developed 4LL’ed team strategies

15. Design Philosophy Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com ➢ Open Hardware

16. Design Philosophy Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com ➢ Open Software

17. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com External Design ‘Body Suit’ Design …. The Uncanny Valley Mori.M 1970 The Uncanny Valley

18. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Industrial Robot

19. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Stuffed Animals

20. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Humanoid Robot

21. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Uncanny Valley Insert Moose

22. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Human??

23. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com External Design ‘Body Suit’ Design …. The Uncanny Valley Mori.M 1970 The Uncanny Valley

24. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com External Design

25. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com External Design

26. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

27. Motors

28. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's

29. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's  Micro controller Torque, position, speed, temp,etc

30. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's  Micro controller Torque, position, speed, temp,etc  Hardy

31. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's  Micro controller Torque, position, speed, temp,etc  Hardy  300°rotation

32. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's  Micro controller Torque, position, speed, temp,etc  Hardy  300°rotation  Resolution: 0.29°

33. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Hardware Robotis Dynamixel RX/DX modules  Serial Daisy Chain Different ID's  Micro controller Torque, position, speed, temp,etc  Hardy  300°rotation  Resolution: 0.29°

34. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Hardware ●AMD Geode LX800 CPU at 500 MHz, 256 KB cache ●256 Mbyte DDR ●512 Mbyte Flash Disk ●WLAN / WiFi 802.11g Interface ●Video Input Port ●3 USB-2 ports ●Serial ports ●100 Mbps Ethernet port ●Low power consumption

35. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Hardware ●2 Atmel Atmega128 Microcontrollers ●5 Axis IMU (Sparkfun SEN-00741) ●1 Axis Gyroscope breakout board (ADXRS150) ●Compass ●Infrared Distance Sensors ●Touch Sensors ●Webcam (off the shelf) ●Li-Po Batteries

36. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Motors

37. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

38. The Operating System ➢ Compulab's Gentoo, Windows CE, Windows XP

39. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com The Operating System ➢ Compulab's Gentoo, Windows CE, Windows XP ➢ Gentoo Image: Xorg? Touch Screen Drivers? No Man Files!!!

40. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com The Operating System ➢ Small Kubuntu = Debian

41. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com The Operating System ➢ Small Kubuntu = Debian ➢ Minimal install of Debian Etch (200Mb)

42. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com The Operating System ➢ Qemu: Emulate Geode (SCSI Flash) + CD Drive

43. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com The Operating System ➢ Qemu: Emulate Geode (SCSI Flash) + CD Drive ➢ Download to Geode: Etherlink, TinyFTP

44. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Software ●Openssh-server ●Build-essentials including make, gcc, and g++ ●Python ●Vsftpd ●Webcam ●Apache (1.3.34-4.1) used to do web serving ●Rt73 serialmonkey drivers ● Ntpdate ● Sudo

45. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Robotic Motion and Camera Stability ➢ Motion ●Why?

46. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Robotic Motion and Camera Stability ➢ Motion ●Why? ●Less power consumption ●Less processor time

47. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Robotic Motion and Camera Stability ➢ Motion ●Why? ●Less power consumption ●Less processor time ●Stable walk

48. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Robotic Motion and Camera Stability ➢ It looks better

49. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Motion

50. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Motion ➢ Equation of an Ellipse ➢ Constants need to be tweaked

51. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Motion

52. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Motion

53. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Motion ➢ Matlab function [A1 A2]=ellipse2angle(t,a,b,h,k,L1,L2,output) A1=zeros(length(t),4); A2=zeros(length(t),4); %eqn of an ellipise x=h+a*cos(t); y=k+b*sin(t); %solve simultaneously eqn=solve('x=L1*cos(A1)+L2*cos(A1+A2)', 'y=L1*sin(A1)+L2*sin(A1+A2)', 'A1, A2');

54. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Motion ➢ Angle In, Angle Out

55. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Serial Communication ●Getting through the OS ●POSIX standard OS (IEEE 1003) ●Serial port treated as a file: TTYUSB0 ●Open, Read, Write, Close, Configure ●Baud Rates, Control Bits (8N1) ●http://www.easysw.com/~mike/serial/serial.html

56. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Putting It All Together Matlab csv Spreadsheet csv C Program Motors

57. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Camera Stability ● Why? ●Less image processing ●Easier to keep track of the object being followed ●Decrease in mechanical fatigue

58. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Stability ●Trying to model head ●Work out where every motor is ●Understanding accelerometer readings ●Static acceleration: 100 points approximately 1g ●Track the horizon: x=0 ●Very sensitive accelerometers ●Convert to motor points

59. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Step Response

60. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Videos

61. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com The Part You Have All Been Waiting For... The Demo

62. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Thank you

63. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Tribotix Plug ➢ Hykim (the bear)USD 15,000 ➢ Dynamixel (motors)USD 40- 285 ➢ RoboBuilder (motors) USD 35 ➢ Bioloid Kits (full robot) USD 350-3,500 www.tribotix.com (mention you saw us at LCA) www.tribotix.com

64. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Any questions?