"Straight out of science fiction" Looks a lot like Westworld, and the series doesn't end well for humans.
That video is nightmare fuel.
Protoclone: Bipedal, musculoskeletal Android
51–54 of 54 posts
Re: Protoclone: Bipedal, musculoskeletal Android
#52Earlier quoted context omitted.
In general, remote operated equipment still suffers latency, and thus visual servoing doesn't work well even in ideal controlled lighting conditions. One of the lowest-cost commercial UR5 options with force-feedback is usually packaged with a traditional turtle-bot research platform. These are safer to use around people without a cage, as you can set impact safety thresholds: https://www.universal-robots.com/products…
It's between 20k and 30k dollars. Maybe your profession is suffering from "industrial bias": it focuses only on high-end robotics because it's the only thing that makes sense economically for now and anything super-cheap is seen as laughable ? Wasn't it the case for FDM 3D printer too before they went mainstream in the 2010s ? I just want to build a toy and explore what's possible with this technology for non-serious…
There are inexpensive educational products:
https://www.youtube.com/watch?v=4xD9QCBkxAs
https://www.anninrobotics.com/product-page/ar2-aluminum-and-...
https://www.omc-stepperonline.com/upgraded-ar4-robot-complet...
https://github.com/shoiland/ar4_ros_driver
YMMV as I haven't tried it myself, it looks like a solid aluminum frame with geared-stepper drivers. This means many of the axis will have minimal backlash behavior from the gears, but if you keep the driver power minimal you are less likely to strip off teeth when (not if) you make a programming error.
I also like that it is open design, as making it do something useful gets easier. You might be able to get away with a fully 3D printed plastic arm if your use case is not demanding. However, when stating your project goal in one sentence you will have to decide if you are A. building robots or B. solving some lab task.
Best of luck, one may find academic sponsorship/funding is easier than trying to recreate the wheel. Best of luck =3
Re: Protoclone: Bipedal, musculoskeletal Android
#53Earlier quoted context omitted.
Your intuition is quite correct that closed-loop means open-loop repeatability is not critical, but controlability (non-stickness, smallest possible controlled movement) still matters. Motors are well behaved and continuous, so even with some backlashes, you will be fine. There are also ways to compensate for backlashes from software (e.g. same approach angle for end effector). Aloha is a fascinating project and woul…
First I'd like to reproduce the Push-T task of the policy diffusion paper (video here: https://diffusion-policy.cs.columbia.edu/ ) Afterwards I'd like to tackle useful tasks related to gardening/botanical experiments: uprooting weeds, handling pests, harvesting small fruits. What's interesting is that you can develop new approaches to these problems. Uprooting stuff is difficult to do for a machine I guess. Maybe jus…
Stumbled upon this paper when exploring the topic of "visual servoing"
https://arxiv.org/abs/2208.11538
Visual Servoing in Orchard Settings
We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a visual servoing approach based on a new and robust feature tracking algorithm. Results from field experiments performed at an apple orchard demonstrate that our approach converges to a given termination criterion even under environmental influences such as strong winds, varying illumination conditions and partial occlusion of the target object. Further, we show experimentally that the system converges to the desired view for a wide range of initial conditions. This approach opens possibilities for new applications such as automated fruit inspection, fruit picking or precise pesticide application.
Re: Protoclone: Bipedal, musculoskeletal Android
#54Earlier quoted context omitted.
First I'd like to reproduce the Push-T task of the policy diffusion paper (video here: https://diffusion-policy.cs.columbia.edu/ ) Afterwards I'd like to tackle useful tasks related to gardening/botanical experiments: uprooting weeds, handling pests, harvesting small fruits. What's interesting is that you can develop new approaches to these problems. Uprooting stuff is difficult to do for a machine I guess. Maybe jus…
Stumbled upon this paper when exploring the topic of "visual servoing" https://arxiv.org/abs/2208.11538 Visual Servoing in Orchard Settings We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a visual servoing approach based on a new and robust feature tracking algorithm. Results from field expe…
Or you could just try a classic library yourself:
https://github.com/lagadic/visp
example:
https://github.com/afonsocastro/larcc_interface
YMMV =3