VISION-BASED SLAM ROBOT SPIDER: AN UNDERGRADUATE PROJECT of ADVANCED ROBOTICS of BACHELOR of TECHNOLOGY

Caleb Beckwith, Shaojin Zhang, Sven K. Esche, Zhou Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Bachelor of Technology (B.Tech) of robotics is a skilloriented degree, and the students are usually not well-prepared both in theoretical knowledge and the opportunities to reach cutting-edge technologies. To overcome the above two difficulties, some challengeable projects are designed as the undergraduate projects of B.Tech of robotics. Among them, a SLAM robot spider is implemented. This project employed robotics vision, PID control, dynamics, kinematics, and additive manufacturing. Its structure is fabricated through additive manufacturing. The skeleton is composed of three main parts: six legs, torso, and head. Each leg has three joints which are driven by servo motors. The torso is used to mount the sensors, control modules, communication modules, and power source. The NVIDIA Jetson Nano is used to control the motors, manage the communication interfaces, and process the sensing data. The Intel RealSense depth camera and Intel RealSense tracking camera are used to futile the task of SLAM. The depth camera is used to acquire depth data to generate 3D point clouds. The tracking camera is an auxiliary reference to help to steer and to locate the position. Besides, an iPad tablet is used to provide a manual control option and render the scene in real-time.

Original languageEnglish
Title of host publicationEngineering Education
ISBN (Electronic)9780791884577
DOIs
StatePublished - 2020
EventASME 2020 International Mechanical Engineering Congress and Exposition, IMECE 2020 - Virtual, Online
Duration: 16 Nov 202019 Nov 2020

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume9

Conference

ConferenceASME 2020 International Mechanical Engineering Congress and Exposition, IMECE 2020
CityVirtual, Online
Period16/11/2019/11/20

Keywords

  • B.Tech
  • MET
  • Robotics
  • SLAM

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