Loki – a homemade robot from Dave Shinsel (team leader of programmers at Intel), made as a hobby.
The robot has already undergone several transformations and at the moment it looks like this:
The Loki on-board computer is an ordinary laptop:
– access to laptop keyboard
Access to the engine room:
“and inside he has a neon”
– servo, two cameras and two Sharp IR rangefinders.
As I understand it, in the first version, the robot rode on two stepper motors:
in the latest version, the standard three-wheel scheme is also used
differential drive (differential drive robot) – two drive wheels and one thruster, each drive wheel is driven by a separate engine.
Example: iRobot Roomba robot vacuum cleaner.
but now two geared motors with encoders act as masters:
The Loki robot is based on a laptop (under the Windows XP operating system), to which are connected via two USB hubs:
*Microsoft Kinect sensor
* two webcams (Loitech QuickCam Pro)
* PIC based controller
* motor controller
* USB2Dynamixel – controller for controlling Dynamixel servos
* laser rangefinder (Hokuyo URG-04LX-UG01)
also available on the author’s website robot circuit diagrams.
The control software is open and laid out in one archive
– Visual Studio Solution in C++
Video processing, of course, is carried out using OpenCV
Loki Robot – video 2 (Exploring the house)