Projects Guide for ROBOTIS Engineer: Volume 2

$29.95 USD
by STEAMCUP

In this Volume 2, the author’s goal remains the same, which is to help owners of the ROBOTIS ENGINEER robotics kits make the most use out of the hardware and software available to them, by integrating the kits with Single Board Computers (SBC) such as the RPi4B and Jetson Nano.

Volume 2 continues the “unusual” format used in Volume 1:

  • Each chapter showcases one robot type, starting in Chapter 4 with the “Enhanced Pan-Tilt Commando” using an RPi4B and progressing towards more sophisticated robots in later chapters such as Quadruped (and its Variants using RPi4B), Hexapod SPI (using RPi4B and Jetson Nano) and closing with Humanoid MAX-E2 (using RPi4B).
  • Within each chapter, the programming tools/environments vary from TASK/MOTION and MicroPython on the CM-550 to Standard Python and C++ on Linux and PC Windows environments. The ZigBee and Dynamixel SDKs are also used at the SBC level to further broaden and strengthen the reader’s computer programming skills.
  • Each chapter also informs the reader on the use of the U2D2 module and the new ROBOTIS Dynamixel HAT as they allow the user to create/control Independent Dynamixel Networks on the same physical robot, essentially running/coordinating parallel processes on different controllers (CM-550 and the SBC of the user’s choice).
  • The Commando and Quadruped chapters also showcase the use of a Desktop Computer as a Supervisory Controller of those two RPi4B-enhanced robots.

Who is this book for?

Volume 2 is designed for users with intermediate robotics and programming skills who have worked with ROBOTIS “Edutainment” Systems before, such as PREMIUM, BIOLOID or MINI. Volume 2 assumes that the reader also has some practice in Python and C/C++ programming using such IDEs as Thonny, Code::Blocks and Visual Studio/Visual Studio Code. Volume 2 also relies on materials already presented in Volume 1, thus Volume 2 uses a faster pace for presenting its materials.

What do you need?

The user should have access to the ROBOTIS Engineer Kits 1 and 2 and a Windows based personal computer to install and use a variety of software libraries and IDEs. The user should also purchase SBCs such RPi4B and Jetson Nano. Additional needed hardware comprises: ROBOTIS ZigBee and/or Bluetooth modules, Pi Cameras, U2D2, DXL-HAT, LiPo batteries, Buck voltage converters, various USB cables, HDMI display emulators.

What is in this book?

Volume 2 has 4 chapters (labeled from 4 to 7):

  • Chapter 4 starts with the standard Commando robot, adds a Pan-Tilt platform for a Pi Camera and integrates an RPi4B 8GB to serve as Co-Controller to the CM-550. Projects investigated include Dual Control from Mobile Device and/or PC, Autonomous Obstacle Avoidance, RPi4B as Vision Processor and Remote Controller, PC as Central Data Hub or Supervisory Controller using Serial Communications via ZGB-SDK or Boost ASIO, Using DXL-HAT and DXL-SDK for Independent Dynamixel Networks control.
  • Chapter 5 begins with the standard Quadruped robot, adds 4 XL430-controlled wheels, and produces 4 robot variants. These robots were then used to explore similar concepts/ ideas described in Chapter 4 but now as a robotic platform whereas the Pi Camera is rigidly attached to the robot chassis. This requires the robot to physically change its mechanical poses to aim the camera toward a chosen target. These “special” moves were implemented with the use of standard Motion Units and appropriate Joint Offsets via the TASK/MOTION interface. For Python and C++ interfaces, the DXL-SDK is used to send SyncWrite Goal Position packets into targeted servos set in Time Control mode and using standard Python/C++ arrays as Motion Arrays. The final project showcases the concept of using a Desktop PC as Supervisory Controller of two SBC-enhanced robots which can act as independent Vision Processors and Remote Controllers to the CM-550.
  • Chapter 6 sets out with the standard hexapod SPI robot and adds a Pan-Tilt platform to control its Pi Camera. This platform is then used to test out different integration concepts for the CM-550 with either the RPi4B or Jetson Nano, using similar projects as the ones implemented in Chapters 4 and 5. It is also used to test out the limits of the battery power options.
  • Chapter 7 builds on the successes and failures demonstrated in Chapters 4, 5 and 6 to construct a MAX-E2 based robot, equipped with a Pan-Tilt platform + Pi Camera as its Head Assembly, along with an RPi4B attached to its back (E-ME2). It uses independent tethered power cables to power the CM-550 and RPi4B controllers separately. The major challenge is to maintain its static and dynamic balance due to the extra hardware that this bipedal robot must carry. This challenge is accomplished by using static Motion Offsets along with dynamic adjusted Joint Offsets set into critical servo-joints of this E-ME2 robot.

This book provides appropriate source codes and some demonstration videos (via YouTube®) to illustrate the presented concepts. Please visit http://www.cntrobotics.com/engineer for access options to the source codes and tutorial videos.

And please, do let the author know about your experiences in using the materials in this book, this will help the author improve the next edition and the companion resources. Please visit the author web site www.cntrobotics.com for updates and other robotics materials. Please send your comments and suggestions to roboteer@comcast.net.