Robot Brothers and motion teacher

My robot brothers and motion teacher(center) are here!

These robots use Raspberry PI as robot controllers.

Brothers

Older son.  4 legged robot (1/2 scale prototype)

The second son.  Wheel robot (testing machine)

Robot Distributed Cooperative System (RDCS)
&
4 Dimension Space Database (4DS)

Service Server

peace!

I'm a farmer. v(^o^)/ young daikon & digging taros from Sulawesi

Young Daikon (Japanese radish)

Kurin could smell taros in the ground.
Kurin struggled frantically to dig taros.
Robots can't do same things, because I can't code program of the taro's smell in the ground.

   His face oh........怖い

Peace!

Now status of developing a 4 legged prototype robot

front or back

side

back or front

There are 3 joints in back leg joints and 2 joints in front leg.
The reason is to improve turning capability, climbing stairs and moving on rough terrain.

The structural material is wood.
Because wood is easily-worked.
But production model  will be built up using aluminum(A5052).


     Now considering,,, I think it might be woody robot is good.
     If the junctions of structure are reinforced by  aluminum parts,
     woody material has enough strong material stress, easily-worked,
     eco, low cost, easy purchase and warmth to people.
     (Nov. 3, 2012)


This prototype uses 10 servos.
But production model will use motors to reduce the robot cost.

Xtion is an important part of my space recognizing system.
I realize a space recognizing system using Xtion, lots of visual processing program and space DB.
And I use an IR Distance Measuring Sensor Unit to detect an obstacle  in short range.

As a result,  I've developed  a technology to make a 4 legged robot  that can transport a package ( 20kg). And then the robot production cost is less than $1,000.

Next, I have to develop an actuator for tomato harvesting.
It will ride on the 4 legged robot.



Challenge !!

Hello! Robot motion teacher and student.

Peace!

I'm a farmer. v(^o^)/ cultivate plants using cell tray

Plants are growing.
(Seeded on  Oct. 20, 2012)

   \(^0^)/    Refreshed morning.

tomato

daikon (大根) Japanese radish

spinach (法蓮草) and others

onion

cabbage

broccoli
They look at the Sun.

broccoli

......    ......    ......    ....   ...   ..   .

Happy!

Design a motion of 4 legged robot

I have designed a motion of 4 legged robot using following document.
This document describes a motion pattern and how to move each legs, heels and body.
I have been testing effective walking of 4 legged robot for a half month.
I have gathered data and wrote the document. And I have  coded the walking program of 4 legged robot.

Peace!

New house & new machine

Kurin is happy.
Because he has a new house.
Now Japan is autumn, It will be winter soon.
I wonder if his house will warm KURIN in winter.

A new cutting machine!
I use this machine to make a robot part.
It can cut materiales at a right angle.
To cut materiales at a right angle is very important to build up robots.

Hitachi  Koki      FC7FSB

Peace!

The Video !! Walking a 4 legged robot. v(^.^)v

Please see a  prototype robot video.
It's a powerful  4 legged robot.

This prototype robot is used for functional verification.
It seem a simple robot, but it have many function.
Space recognition, obstacle detection,  autonomous locomotion,,,,

These function is  on my original robot platform called 'RDCS'.
I will improve these robot function  using  results of prototype robot testing.

By the way, he recognizes  his environment through his eye (xtion).

Peace!

I'm a farmer. v(^o^)/

Young plants.

DAIKON (japanese radish)

cabbage

onion

other young plants

Kurin  (my family)
my teacher of 4 legged robot

peace!

New Machine & Eye

It's new machine for robot developing.

I can make original parts.

New Eye
UCAM-DLE300T
Full HD(1920x1080) webcam

I will use a computer vision part of moving control.

happy!

I'm a farmer. (o^_^o)...

I seeded today.
Onion, broccoli, daikon radish, , ,
and tomatoes for testing of harvesting robot.

happy!

KONG LIVES!

Do you know this badge?

It was about 20 years ago. This badge passed out after an incident at Universal Studios Hollywood.

peace!

Useful robot work bench.

I made a robot work bench yesterday. I could understand it is very useful.
The photo is a scene of test recognizing target.
I can move a Xbox on bench smoothly and easily.

  Peace!

Now status:4 legged robot. New robot bench.

I'm developing a motion realtime generation program for my 4 legged robot.
It's very difficult program for me.  I'd like to develop the program in this week.
I made a robot bench.  When I debug a motion realtime  generation program, i use this bench. It took 4 hours to make this bench.
Now I develop a prototype 4 legged robot. This bench is able to use too, when  i will develop a next robot which work in my farm and greenhouse.

 prototype 4 legged robot 

prototype 4 legged robot (front)

robot bench

robot bench

peace!

A new robot on 4 legs. (prototype)

Now, I'm developing a 4 legs robot. The pictures are a prototype 4 legs robot.
The prototype robot is half size model.
４本脚ロボットを開発しています。写真は、そのプロトタイプです。

30cm ruler in lower side

I grow organic tomatoes in the greenhouse.  And in the greenhouse, an aisle is narrow (40cm) and uneven ground.

 There are several robot moving methods  that are wheels, caterpillar, 4 legs and others. I have considered  which is the best moving method in the 'farm' and 'greenhouse'.
I decided to develop a 4 legs robot, first of all.

私は、化学農薬などを使わないオーガニック　トマトを農業ハウスで栽培しています。
ハウス内は、通路も狭く、また平ではありません。

ロボットの移動方法には、車輪、キャタピラー、４本脚、それ以外の方法もあります。
最初に、４本脚のロボットを作る事に決めました。


The selection points are below:
(1) A function of holding on the level ( a height level requirement )
My forming robot have to move on the application which are an actuator, pruner machine,,,
Therefore a robot need to hold these applications on the level in order to exercise their capacities.
A wheel and caterpillar machin are difficult to hold on the level.
But 4 legs moving system is easy to realize  my height level requirement, nothing any other parts.
I'm going to research and to develop for putting into practical use.


peace!