TY - GEN
T1 - VISION-BASED SLAM ROBOT SPIDER
T2 - ASME 2020 International Mechanical Engineering Congress and Exposition, IMECE 2020
AU - Beckwith, Caleb
AU - Zhang, Shaojin
AU - Esche, Sven K.
AU - Zhang, Zhou
N1 - Publisher Copyright:
© 2020 ASME.
PY - 2020
Y1 - 2020
N2 - 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.
AB - 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.
KW - B.Tech
KW - MET
KW - Robotics
KW - SLAM
UR - http://www.scopus.com/inward/record.url?scp=85101264180&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85101264180&partnerID=8YFLogxK
U2 - 10.1115/IMECE2020-23220
DO - 10.1115/IMECE2020-23220
M3 - Conference contribution
AN - SCOPUS:85101264180
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
BT - Engineering Education
Y2 - 16 November 2020 through 19 November 2020
ER -