1. Vision-Based Robot Control Bax Smith Term 8 Electrical (CC)

2. Outline How I came up with this project Components of the project Visual Demo Conclusion

3. Vision-Based Robot Control Person: 5 Senses Robot: 1 Sense Person: Mobile Robot: Mobile Person: Can Grasp Objects Robot: Can Grasp Objects Person: Intelligent Robot: ?

4. The Result: Sambuca

5. Applications for Sambuca Get me beer from fridge Vacuum carpet Mow the lawn Give tours Recycle! Illustrates the point and Saves the environment!

6. Components of Sambuca Vision System Mobility System Intelligence System Arm System

7. Sambuca - Vision System Hardware: Webcam The Problem: Distinguishing Cans/Bottles from other things The Solution: Image Processing and Feature Extraction

8. Sambuca - Mobility System Hardware: Electric Wheelchair Base Turns by reversing direction of wheel rotations

9. Sambuca - Intelligence System What to do if it sees an object? How far away is the object? Is on the left or right? What about multiple objects? How to get to the object?

10. Sambuca - Intelligence - FSM Scavenger - look for object Retrieval - grasp object Deliver - put in bin STARTDETECT GRAB RELEASE DONE Scavenger Retrieval Delivery

11. Sambuca - Arm System RT200 Robotic Arm Go to Point - Acknowledge PC - Intelligence RT200 Robotic Arm Serial

12. Sambuca in Action

13. Conclusion Finds and distinguishes objects very well Tracks and follows targets very well Arm could do with its own vision system Mobile Base could do with its own Control System/Encoders