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An inexpensive hand-eye system for undergraduate robotics instruction

Published: 04 March 2009 Publication History

Abstract

Hand-eye systems combine computer vision with kinematics and dynamics calculations to achieve dexterous manipulation. These versatile platforms for teaching robotics principles have not been widely used in undergraduate laboratories due to cost. We describe a new hand-eye system constructed from Robotis Dynamixel servos, a USB interface module, and a webcam, that can be built for under $500 and run by a PC using the Tekkotsu open source software framework. A suggested curriculum is outlined.

References

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Bruce, J., Balch, T. and Veloso, M. (2000) Fast and inexpensive color image segmentation for interactive robots. In Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Rbots and Systems (IROS 00), vol. 3, pp. 2061--2066.
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Gates, B. (2007) A robot in every home. Scientific American, January, 296(1):58--65.
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Kuffner, J., Jr. and LaValle, S. M. (2000) RRT-Connect: An efficient approach to single-query path planning. Proceedings of the 2000 IEEE International Conference on Robotics and Automation (ICRA 2000), pp. 995--1001.
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LaValle, S. M. and Kuffner, J., Jr. (2001) Rapidly-exploring random trees: Progress and prospects. In B. R. Donald, K. M. Lynch and D. Rus (Eds.), Algorithmic and Computational Robotics: New Directions, pp. 293--308. Wellesley, MA: A. K. Peters.
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OGRE 3D: Open source graphics engine. Available at http://www.ogre3d.org
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Tekkotsu Homepage. Available at http://tekkotsu.org
[7]
Tira-Thompson, E. J. (2004) Tekkotsu: A Rapid Development Framework for Robotics. MS thesis, Carnegie Mellon University Robotics Institute. Available online at http://Tekkotsu.org.
[8]
Tira-Thompson, E. J., Nickens, G. V. and Touretzky, D. S. (2007) Extending Tekkotsu to new platforms for cognitive robotics. In C. Jenkins (Ed.), Proceedings of the 2007 AAAI Mobile Robot Workshop, pp. 47--51. Technical report WS-07-15. Menlo Park, CA: AAAI Press.
[9]
Touretzky, D. S., Halelamien, N. S., Tira-Thompson, E. J., Wales, J. J. and Usui, K. (2007) Dual-coding representations for robot vision in Tekkotsu. Autonomous Robots, 22(4):425--435.
[10]
Williams, A. B., Touretzky, D. S., Tira-Thompson, E. J., Manning, L., Boonthum, C. and Allen, C. S. (2008) Introducing an experimental cognitive robotics curriculum at historically black colleges and universities. Proceedings of the Thirty-Ninth SIGCSE Technical Symposium on Computer Science Education, pp. 498--502.

Cited By

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  • (2012)An approach for evaluating FOSS projects for student participationProceedings of the 43rd ACM technical symposium on Computer Science Education10.1145/2157136.2157260(415-420)Online publication date: 29-Feb-2012
  • (2011)The Tekkotsu robotics development environment2011 IEEE International Conference on Robotics and Automation10.1109/ICRA.2011.5980533(6084-6089)Online publication date: May-2011
  • (2012)Seven big ideas in robotics, and how to teach themProceedings of the 43rd ACM technical symposium on Computer Science Education10.1145/2157136.2157152(39-44)Online publication date: 29-Feb-2012

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Published In

cover image ACM SIGCSE Bulletin
ACM SIGCSE Bulletin  Volume 41, Issue 1
SIGCSE '09
March 2009
553 pages
ISSN:0097-8418
DOI:10.1145/1539024
Issue’s Table of Contents
  • cover image ACM Conferences
    SIGCSE '09: Proceedings of the 40th ACM technical symposium on Computer science education
    March 2009
    612 pages
    ISBN:9781605581835
    DOI:10.1145/1508865
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 04 March 2009
Published in SIGCSE Volume 41, Issue 1

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Author Tags

  1. computer vision
  2. hand-eye system
  3. robotics
  4. tekkotsu

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Cited By

View all
  • (2012)An approach for evaluating FOSS projects for student participationProceedings of the 43rd ACM technical symposium on Computer Science Education10.1145/2157136.2157260(415-420)Online publication date: 29-Feb-2012
  • (2011)The Tekkotsu robotics development environment2011 IEEE International Conference on Robotics and Automation10.1109/ICRA.2011.5980533(6084-6089)Online publication date: May-2011
  • (2012)Seven big ideas in robotics, and how to teach themProceedings of the 43rd ACM technical symposium on Computer Science Education10.1145/2157136.2157152(39-44)Online publication date: 29-Feb-2012

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