ECE 590 - Humanoid Robotics

Fall 2014

Face & Color Detection:

Using a webcam attached to a custom pan & tilt unit a control system for tracking face and color is presented.  The code for this project can be accessed here.

 

 

 

Stereo Vision:

Using computer simulation, a differential drive robot with two pin-hole cameras is driven in a 3D environment.  The objective is to use stereo vision can calculate the distance of the green box from the robot.  The code for this project can be accessed here.

  

  

Visual Servoing:

Object tracking using visual feedback and closed loop control of a differential drive robot using computer simulation.  The blue ball is detected and tracked using color tracking and the robot is controlled to keep the target in the center of the image accordingly.  The code for this assignment is available here.

 

 

Balancing the HUBO:

Balancing the HUBO on one foot and more.  The code for this project can be found here.

 

 

Object Tracking:

A simple program that uses color detection to find the green ball and find the location of the center of the mass for that ball as the differential drive robot moves around the simulated environment.  The code can be accessed here.

  

  

HUBO Walking:

ZMP walking implementation for the HUBO.  The code is available here.

 

  

Actuator Programming:

The following is a simple excersie is programming and understanding of actuators of a differential drive robot.  The code can be found here.

 

Human Interface Controller:

This is an experiment in providing human interface control in a form of a seperate process that provides control commands to the robot controller on a communication channel.

 

 

Balance HUBO On One Foot:

Balancing the HUBO on one foot and making the robot go up and down on one leg in a sinusoidal pattern.  The code can be downloaded from here.

 

 

HUBO Says Hello:

Simple program that makes HUBO wave hellow.  The code is available here.