Vrobotics I. DeSouza, I. Jookhun, R. Mete, J. Timbreza, Z. Hossain Group 3 “Helping people reach further”

Background Vrobotics is dedicated to the development of robotic technologies aimed at assisting people with interacting with their environment. Our first robotic manipulator, V, is designed to work through voice and visual cues to perform basic functions given by the user. Ultimately, V will be able to replace larger tasks such as cleaning your kitchen and even cooking your food! Vrobotics

V Voice Recognition – Processing audio input into strings that can be used as input for the robotic arm and its subsystems. Control Systems – The kinematic modelling and algorithms that allow the arm to perform its required motion efficiently and effectively. Image processing – Processing video input into tangible object characteristics and spatial information Sensor Integration – Transforming raw data streams into real-world information about V’s actions and its surroundings. Electronics and Mechanical Systems – Developing of efficient and effectively hardware capable of performing the tasks requested by the user in a timely manner. V Systems Overview

Current Progress Voice Recognition: Voice recognition of user defined dictionary with output as string to be used by other modules is complete. Control Systems : Inverse kinematic modelling and speed control algorithms for motion have been developed and tested successfully. Image processing : Image recognition of objects based on color in realtime is complete. Sensor Integration : Transformation of laser scan data with robotic system into a local inertial frame is complete. Electronics and Mechanical Systems: Prototype of final design joints is complete using servo. Prototype is designed primarily as a platform for testing control system algorithms Vrobotics

Demo Vrobotics

The Next Steps Voice Recognition: Control Systems : Development of Jacobians for more precise motor speed control as well as the inverse kinematics for the final arm design with multiple L- joints. Image processing : Including object shape as tracking criteria. Sensor Integration : Pressure Sensor, absolute encoders, temperature, and power sensing. Electronics and Mechanical Systems: Development of high load, high precision joints with simultaneous multi- motor control. Vrobotics