another linux robot platform

unknown user · 2005-05-16T19:32:50+00:00

I was inspired by some of the "linux robot" posts on here, and as Ihave worked on some pc-based robots before, I decided to give itanother shot. The result is the Seris Project, in which the goal is tomake a useful, social personal robot for under $100.I built my own, the Seris II, using all open-source software and cheaphardware. I will be uploading instructions soon, but if you'reinterested you may want to download the code ahead of time. It uses theFestival Speech Synthesizer, the CMU Sphinx2 speech-to-text program,and includes a modified version of the OpenCyc knowledge base/reasoningengine. It also has a command shell for giving the robot commands forspeech and movement, and runs as a daemon with a user-supplied "main"script that governs the robot's actions.I plan on building up some Seris-specific code in the OpenCyc knowledgebase, with reference to navigation and task completion, and I stillneed to get the CV working for my dual webcams, which I will interfacesomehow with the daemon pipes, but generally it works (I still need toupload my bugfixes for today, but they're just a couple small changes,so one can probably find them expediently on one's own).If anyone is interested, the project is housed at: .~John Ohno

May 16, 2005 24 Replies

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aiiadict 21 years ago

Hell money delivered by "paypal", a midget go comes to your doorstep, rings the bell, and sings a song as he hands over your evil $$.

Rich

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Guy Macon 21 years ago

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abefij 21 years ago

I recently picked up a LinkSys NSLU2 (266MHz ARM XScale which runs linux, has built in networking, USB, a serial header, and tons of flash(32Mb) on the board) for $55 on Ebay. Part of the file system is on the built in flash, and part is on a sandisk cruzer 256 usb flash drive ($25 at staples after rebate). Using an i2c driver with the clock chip will enable you to talk to a microcontroller(sensors, motors etc), if you need to use the serial connection for something else.

More info here:

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Don't bother sending any $

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unknown user 21 years ago

In order to run the software (available on the sf site

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), you need linux... And the code includes an implementation of a language similar to Lisp (CycL) for sillogism processing, as well as a few shell scripts, and requires festival for speech... With CycL, it kills my PII laptop system every time it caches the MTs, so if you don't want the robot stalling every time the brain decides to backup, you might want to use something better than a PII 200mhz. The current version works pretty well, but it's necessary to write your own version of the robot control script (replacing the demo one), but with documentation in one hand (or window) and the script in the other, one could probably make a reasonably useful and interesting robot setup in a couple days. I'm sorry that I haven't uploaded the hardware piece yet... I'll try to remember to do that when I get home. It's basically a couple of H-bridges connected to pins on the parport (pin 1=left motor, pin 2=right) with the strobe (pin 0) tied directly to a power source.

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