Roboy_Reflexes

Roboy_Reflexes

We prevent Roboy from falling over. By mimicking the patella tendon reflex, Roboy is able to detect a critical and ustable position and stand up to a more stable one.

Currently the critical values are recorded from a highly unstable knee position. This can be extended by providing more unstable positions and implementing machine learning, kinect vision detection, etc. to optimally calculate the critical position. Also a IMU sensor placed at the hip can help with stabilizing the hip upward motion.

Furthermore, an Intel Edison should be used to attach the whole functionality to Roboy. A whole PC setup to start the reflex is thereby avoided.

Our template is run with ROS catkin and can be extended to different reflexes. Prerequisites:

roboy_ros_control roboy_ros_trajectory

for recording data: roboy_gui Building

To build the project you need to clone the project into the catkin workspace src folder

Example:

cd ~/catkin_ws/src git clone https://github.com/valentindiehl/Roboy_Reflexes.git cd .. catkin_make

Built With

• c++
• cmake