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robots.html
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN"
"http://www.w3.org/TR/html4/strict.dtd">
<html>
<!-- $Id: header.html,v 1.1 2006/05/22 21:35:34 vaughan Exp $ -->
<HEAD>
<meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8">
<meta name="keywords" content="autonomy, Vaughan, Richard, robot, control, AI">
<link rel="stylesheet" type="text/css" href="autolab.css">
<TITLE>SFU Autonomy Lab</TITLE>
</HEAD>
<body >
<div class="title">
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<td style="font-size:36pt;">
<a href="index.html">Autonomy Lab</a> / Robots
<td style="text-align:right;"><img src="img/sfu.png" alt="sfu logo" height=50>
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<div class="main">
<h2>Custom robots</h2>
<p> We aim to build a series of long-lived robot creatures great and
small. Our first generation consists of 30 <i>Chatterbox</i> robots;
based on the iRobot Create mobile platform, the Chatterboxes feature
stereo microphones and speakers for communication with each other and
with humans. They also signal using 4 24-bit colour LEDs, have IR
sensors to detect obstacles, an ambient light sensors, and can
recharge themselves.</p>
<p style="text-align:center;"><img src="img/chatterbox.jpg" alt="Chatterbox Robot with LEDs glowing" /><br/>
<p>These robots allow us to verify our simulated energy-management
experiments with real robots as well as providing a platform for a
variety of Human-Robot interaction experiments.
<!-- Once the swarm is
operating continuously, we will have a live feed of these creatures
in their lab 'habitat'.
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</p>
<p style="text-align:center;">
<a href="http://autonomy.cs.sfu.ca/Chatterbox/construction.html#grid" >
<img src="img/chatterbox_combo.jpg" alt="mostly assembled Chatterbox robots from build session"/>
</a><br/>
</p>
<p>A <a href="http://www.gumstix.net/">gumstix stack</a> running Linux® furnishes
computing power and wireless access for the robot while the <a href="http://irobot.com/">iRobot® Create</a>
base provides mobilty, basic sensing, and recharging capability. A custom-made interface
board allows for additional sensors, actuators, and breakouts; schematics and part-lists
for this board will be made available under an open-source
license. Interfacing is via our <a href="http://github.com/jwawerla/autolab-rapi">RAPI open-source library</a>.</p>
<p>The Chatterboxes were designed and prototyped by Jens Wawerla and Ash Charles, then built by the lab.
<!--
<p>We are also working on a highly-autonomous outdoor robot, codenamed <i>Straylight</i>.
-->
<h2>Commercial robots</h2>
<p>The lab has two Pioneer 3-DX multi-purpose research robots from <a
href="http://www.activmedia.com">ActivMedia</a>. These are equipped
with onboard Linux computers, front and rear sonar arrays, SICK laser
range scanners, 802.11 WiFi networking and IRDA serial
communications.
<p>For interfacing and control, the Pioneers run ROS and <a href="http://playerstage.sourceforge.net">Player</a>.
<p style="text-align:center;"><img src="img/roy_priss_small.jpg" alt="picture of Roy and Priss, our Pioneer 3 robots"><br>
<p>We also have a venerable Nomad 200 mobile robot on loan from
the <a href="http://www.cs.sfu.ca/research/groups/VML">Vision and
Media Lab</a> thanks to Prof. Ze-Nian Li. <i>Mother</i> is retrofitted
with an 800MHz Mini-ITX VIA computer running
<a href="http://playerstage.sourceforge.net">Player</a> for high-level
control. Our Nomad 200 driver ships with Player.
<p style="text-align:center;"><img src="img/nomad_nav1.jpg" alt="picture of a Nomad 200
robot"></p>
<h2>Simulated robots</h2>
We use <a
href="http://playerstage.sourceforge.net/index.php?src=stage">
Stage</a> for large-scale robot
experiments, and its cousin <a
href="http://playerstage.sourceforge.net/index.php?src=gazebo">Gazebo</a>
for experiments with more realistic
dynamics and three-dimensional terrain.
<p style="text-align:center;"><img src="http://playerstage.sourceforge.net/images/fasr.png" alt="Stage
screenshot">
<br>
<a href="http://playerstage.sourceforge.net">
<img style="vertical-align:middle;border:0;width:88px;height:31px"
src="img/player_button.png"
alt="Player driven">
</a>
<a href="http://playerstage.sourceforge.net">
<img style="vertical-align:middle;border:0;width:88px;height:31px"
src="img/stage_button.png"
alt="Player driven">
</a>
<p style="text-align:center;"><img src="img/gazebo_collide.jpg" alt="Gazebo
screenshot">
<br>
<a href="http://playerstage.sourceforge.net">
<img style="vertical-align:middle;border:0;width:88px;height:31px"
src="img/player_button.png"
alt="Player driven">
</a>
</a>
<a href="http://playerstage.sourceforge.net">
<img style="vertical-align:middle;border:0;width:88px;height:31px"
src="img/gazebo_button.png"
alt="Player driven">
</a>
<h2>Robot Infrastructure</h2>
<p>Player, Stage and Gazebo are products of the <a
href="http://playerstage.sourceforge.net">Player Project</a>. Lab director Richard Vaughan is a founding
member of the Player Project, co-designer of Player and lead developer of Stage.
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