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ABSTRACT

Hand-eye systems combine computer vision with kinematics and dynamics calculations to achieve dexterous manipulation. These versatile platforms for teaching robotics principles have not been widely used in undergraduate laboratories due to cost. We describe a new hand-eye system constructed from Robotis Dynamixel servos, a USB interface module, and a webcam, that can be built for under $500 and run by a PC using the Tekkotsu open source software framework. A suggested curriculum is outlined.

REFERENCES

• 1: Bruce, J., Balch, T. and Veloso, M. (2000) Fast and inexpensive color image segmentation for interactive robots. In Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Rbots and Systems (IROS 00), vol. 3, pp. 2061--2066.
• 2: Gates, B. (2007) A robot in every home. Scientific American, January, 296(1):58--65.
• 3: Kuffner, J., Jr. and LaValle, S. M. (2000) RRT-Connect: An efficient approach to single-query path planning. Proceedings of the 2000 IEEE International Conference on Robotics and Automation (ICRA 2000), pp. 995--1001.
• 4: LaValle, S. M. and Kuffner, J., Jr. (2001) Rapidly-exploring random trees: Progress and prospects. In B. R. Donald, K. M. Lynch and D. Rus (Eds.), Algorithmic and Computational Robotics: New Directions, pp. 293--308. Wellesley, MA: A. K. Peters.
• 5: OGRE 3D: Open source graphics engine. Available at http://www.ogre3d.org
• 6: Tekkotsu Homepage. Available at http://tekkotsu.org
• 7: Tira-Thompson, E. J. (2004) Tekkotsu: A Rapid Development Framework for Robotics. MS thesis, Carnegie Mellon University Robotics Institute. Available online at http://Tekkotsu.org.
• 8: Tira-Thompson, E. J., Nickens, G. V. and Touretzky, D. S. (2007) Extending Tekkotsu to new platforms for cognitive robotics. In C. Jenkins (Ed.), Proceedings of the 2007 AAAI Mobile Robot Workshop, pp. 47--51. Technical report WS-07-15. Menlo Park, CA: AAAI Press.
• 9: David S. Touretzky , Neil S. Halelamien , Ethan J. Tira-Thompson , Jordan J. Wales , Kei Usui, Dual-coding representations for robot vision programming in Tekkotsu, Autonomous Robots, v.22 n.4, p.425-435, May 2007 [doi>10.1007/s10514-007-9024-0]
• 10: Andrew B. Williams , David S. Touretzky , Ethan J. Tira-Thompson , LaVonne Manning , Chutima Boonthum , Clement S. Allen, Introducing an experimental cognitive robotics curriculum at historically black colleges and universities, Proceedings of the 39th SIGCSE technical symposium on Computer science education, March 12-15, 2008, Portland, OR, USA

INDEX TERMS

Primary Classification:
  K. Computing Milieux
  K.3 COMPUTERS AND EDUCATION
      K.3.2 Computer and Information Science Education
          Subjects: Computer science education

Additional Classification:
  I. Computing Methodologies
  I.2 ARTIFICIAL INTELLIGENCE
      I.2.9 Robotics
          Subjects: Commercial robots and applications

  K. Computing Milieux
  K.3 COMPUTERS AND EDUCATION
      K.3.2 Computer and Information Science Education
          Subjects: Curriculum

General Terms:
Algorithms, Design, Economics, Experimentation

Keywords:
computer vision, hand-eye system, robotics, tekkotsu