AMIGO Head

Part links

Author

TU/e

Tech United

techunited@tue.nl

CAD files

.prt

.stp

AMIGO: Head | Arms | Torso | Base

Part Summary

Microsoft's Kinect is used as a head to get a visualization of the world.

• Author: Tech United
• Repository: Link (Coming Soon)
• Software: www.ros.org (Coming Soon)

Overview

In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1.

Figure 1:Assembly of AMIGO's Head

Assembly of the Head

Figure 2 shows AMIGO's head.

Figure 2:The exploded view of AMIGO's head

Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel.

Figure 3:Mounting of the Head to the torso