Post by Devonator on Dec 5, 2012 17:18:33 GMT -5
Sensors
Requirements
Collision avoidance: Detection of nearby obstacles
Objects and features to recognize: People (specific individuals), ...
Max weight: 100 kg including max payload
Dimensions
Height: Approximately 170 cm
Footprint: Max 60 cm x 60 cm (at all heights when arms fully retracted)
Allocated drivetrain height: Approximately 30 cm
Allocated body height: Approximately 120 cm (30 cm for computer at bottom)
Allocated head height: Approximately 20 cm
Body has a square horizontal cross-section that can rotate 360 degrees within a 60 cm diameter bounding circle (to not extend past footprint of drivetrain). This yields a body side-length of 424.3 cm.
Requirements
Collision avoidance: Detection of nearby obstacles
Objects and features to recognize: People (specific individuals), ...
Max weight: 100 kg including max payload
Dimensions
Height: Approximately 170 cm
Footprint: Max 60 cm x 60 cm (at all heights when arms fully retracted)
Allocated drivetrain height: Approximately 30 cm
Allocated body height: Approximately 120 cm (30 cm for computer at bottom)
Allocated head height: Approximately 20 cm
Body has a square horizontal cross-section that can rotate 360 degrees within a 60 cm diameter bounding circle (to not extend past footprint of drivetrain). This yields a body side-length of 424.3 cm.
Concepts
Proximity sensors at base (top and bottom of drivetrain? IR/ultrasonic?)
LIDAR at base for navigation
Stereo vision: head height?
Thermal imaging: primarily for detecting humans, but also for other heat sources or features differentiated by heat
Arm-mounted camera: for better view of end effector
Kinect at chest height: best for mapping depth of room and detecting skeletons
Should kinect and stereo cameras be mounted nearby or apart for best complementary depth mapping (i.e. mapping colour/depth/etc data together for navigation and object detection)?