Android based teleoperation for the finch robot

FAUST, Oliver (2016). Android based teleoperation for the finch robot. ICTACT Journal on Communication Technology, 7 (3), 1334-1340.

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Abstract

The act of creating a robot involves systems engineering and creative problem solutions. It is about using established components to create a system that works in the natural or at least in the human environment. The current project is no exception, we have used the Robot Operating System (ROS) to create an android based teleoperator application for the Finch robot. A Raspberry Pi processing platform establishes the link between the android device and the Finch robot. The most creative task, during the system design, was to translate the commands from the teleoperator application into wheel movements of the Finch robot. The translation must take into account the physical setup of the robot, including unintended negative influences, such as drag. The command translation involved a nonlinear coordinate transformation. The ROS framework enabled us to focus on that nonstandard coordinate translation task by offering a high level of abstraction and the ability to create component functionalities independently.

Item Type: Article
Identification Number: 10.21917/ijct.2016.0196
Related URLs:
Depositing User: Oliver Faust
Date Deposited: 02 Dec 2016 14:56
Last Modified: 14 Jun 2017 16:26
URI: http://shura.shu.ac.uk/id/eprint/14171

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