Post by mtriplett on Nov 14, 2020 19:28:12 GMT
This is Ava. This pic is a little dated, I have since added driving lights and some more plastic bits. I'll post more soon.
Sensors:
Actuators:
Boards:
Machine Learning Models (for now, more to come):
Software Highlights
If people are interested, I'll post more info and pics on this bot after I learn how to use this site better.
Martin
I am using Lynxmotion 3" tracks with custom 3D printed sprockets. The batteries are housed in the compartments inside the tracks:
This piece, from the top of the head, holds the two cameras (Color, 3d Depth, 2 Fisheye, and IMU/SLAM)
This one shows some of the metal endoskeleton. The slide mechanism and 2 ab actuators allow the entire upper body to move up/down and side to side.
Hands
Sensors:
- Orbec Astra S Depth Camera - this is used for video and depth info.
- Intel T265 Tracking Camera (2 Fisheye Cameras with embedded IMU and SLAM Algos for automatic localization)
- Sonars (14 Planned) - 12 in 4 pods of 3 each in lower body, 1 in each ear - Not Installed Yet
- Thermal Cameras (2) - 1 in each ear - Not Installed Yet
- Microphone
- IR Decoder
- Bluetooth Keyboard and Game Controller
- Compass
Actuators:
- Actuonix Linear Actuators(8) - Hips(2), Abs(2), Arms (2 in each arm)
- Servos (12) - Shoulders (2), Neck (2), Ears(2), Arms (3 in each arm)
- Lasers (2)
- NeoPixel Ring in Chest - typically is responding to sound frequencies from microphone
- NeoPixel Jewels (4) - driving lights, brake lights, turn signals
- Drive Motors (2) - 12V Planetary Gear Motors
- Animated Face - eyes, mouth. Notably, lip movements are synced with syllables of words using visemes.
- Speaker - built into 5in HDMI screen on face, used for voice and music playing.
Boards:
- LattePanda Alpha with 8GB RAM and 512GB SSD
- Intel Movidius Neural Compute Stick 2 (USB)
- Arduino Mega ADK w/ Sensor Board
- SSC-32U Servo Controller - one side is 7V, one side is 6V
- Sabertooth 2x5 Motor Controller
- List item 2
- List item 3
Machine Learning Models (for now, more to come):
- YOLOv3 - Object Detection - 80 Classes
- AlexNet - Image Classification - 1000 Classes
- Various BERT derived "Transformer" Models for Masking, Question Answering, and other NLP related tasks.
Software Highlights
- OS: Windows, Python, Arduino
- Databases: SQL Server and RDF and JSON Files
- Internal English-Based Scripting Language and Verbal Operating System
- Generic "Node-Based" Memory System allows all variables to accept inputs from other nodes and have their own embedded scripts, neural nets, or fuzzy logic.
If people are interested, I'll post more info and pics on this bot after I learn how to use this site better.
Martin
I am using Lynxmotion 3" tracks with custom 3D printed sprockets. The batteries are housed in the compartments inside the tracks:
This piece, from the top of the head, holds the two cameras (Color, 3d Depth, 2 Fisheye, and IMU/SLAM)
This one shows some of the metal endoskeleton. The slide mechanism and 2 ab actuators allow the entire upper body to move up/down and side to side.
Hands