tag:blogger.com,1999:blog-20346595509648307732024-03-14T09:12:18.730+02:00BarRD - the barman robotWelcome!
We are two students, Popescu Teodora and Precup Cristina who decided it would be fun and useful to build a barman robot. It could be used by anyone who is not able or don't want to pour liquid in their glasses (for example people with disabilities, or at a party when nobody wants to spend time doing this)
Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.comBlogger15125tag:blogger.com,1999:blog-2034659550964830773.post-6841057057090936172013-03-14T17:18:00.000+02:002013-03-28T01:20:29.859+02:00UBBots 2013 contest<div class="separator" style="clear: both; text-align: center;">
<a href="http://3.bp.blogspot.com/-JA_c_DmxMDE/UUHkxHzsAtI/AAAAAAAADR4/KHrxkkjp0Bk/s1600/barrd_in_action.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="259" src="http://3.bp.blogspot.com/-JA_c_DmxMDE/UUHkxHzsAtI/AAAAAAAADR4/KHrxkkjp0Bk/s320/barrd_in_action.jpg" width="320" /></a></div>
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<span style="font-family: Arial,Helvetica,sans-serif;"><span style="font-size: small;">Last Sunday (10.03.2013) our <span style="color: #cc0000;"><b>BarRD</b></span> attended the <span style="color: #45818e;"><b>UBBots 2013</b></span> competition for which he has been<span style="font-size: small;"> </span>preparing all this time.</span></span></div>
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<span style="font-family: Arial,Helvetica,sans-serif;"><span style="font-size: small;">We are very pleased to announce that our work has been greatly rewarded by the following sponsors: <span style="color: #e69138;"><b>Bitdefender</b></span>, <span style="color: #e69138;"><b>Fortech</b></span>, <span style="color: #e69138;"><b>iSDC</b></span>, <span style="color: #e69138;"><b>SDL</b></span> and <span style="color: #e69138;"><b>Yardi</b></span>.</span></span></div>
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<span style="font-family: Arial,Helvetica,sans-serif;"><span style="font-size: small;">We would also like to thank our professor, Mr. <b>Mihai Oltean</b>, who has been offering us constant help and guidance.</span></span></div>
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<span style="font-family: Arial,Helvetica,sans-serif;"><span style="font-size: small;">Thank you for your support, for appreciating the complexity of our project and for the awesome prizes! <span style="color: #45818e;">:</span><span style="color: #e06666;">)</span></span></span></div>
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<i><span style="font-family: Arial,Helvetica,sans-serif;"><span style="font-size: small;">Cristina and Teodora</span></span></i></div>
Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-59082653488046232912013-03-10T01:04:00.001+02:002013-03-10T01:04:18.530+02:00BarRD - inside view<div class="separator" style="clear: both; text-align: center;">
<br /><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/pW3sx9Jzd9Y?feature=player_embedded' frameborder='0'></iframe></div>
<br />Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-84703231672451343952013-03-08T14:07:00.000+02:002013-03-08T18:46:54.651+02:00Testing: approach table -> rotate -> detect bottle -> grab it<b><span style="color: #6aa84f;">Progress:</span></b><br />
<ul>
<li>grab the bottle and lift it a little</li>
<li>move forward and rotates to detect the glass (use the <b><i>front camera</i></b>)</li>
<li>move around the glass until it is in the desired spot (use the <b><i>front camera</i></b>)</li>
<li>lift the bottle and pour liquid into the first glass</li>
<li>lift a little bit more and pour liquid into the second glass</li>
<li>descend and then let go of the bottle</li>
</ul>
Below is a video that shows how the robot approaches the table by respecting a certain distance, rotates around it and stops when it encounters the bottle within the center of the image.After front facing the bottle it goes forward until the bottle is detected, rotates until it is in the center of the image, and grabs it.<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/n-ntMjaB6JY?feature=player_embedded' frameborder='0'></iframe></div>
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Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-5961013903875838562013-03-04T08:53:00.000+02:002013-03-08T10:14:08.824+02:00Testing: approach table -> rotate -> detect bottleLately, we've made a few adjustments to our design, i.e., we added a <i><b>side camera</b></i> and changed the capture angle for the <b><i>front camera</i></b> (it is now way above the gripper).<br />
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As for the implementation, we switched to colour detection for the bottle due to various reasons.<br />
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<b><span style="color: #6aa84f;">Progress: </span></b><br />
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<li>rotate around the table and scan the table for the bottle</li>
<li> set the bottle to the centre of the image and prepare the robot's position for when approaching the bottle (use the <i><b>side camera</b></i>)</li>
<li> get close to the bottle and center it. This is crucial to grabbing the bottle with the gripper (use the <i><b>front camera</b></i>)</li>
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Below is a video that shows how the robot approaches the table by respecting a certain distance, rotates around it and stops when it encounters the bottle within the centre of the image. It then turns around, backs off, and drives back, this time front facing the bottle. The reason for doing so is that otherwise, the robot might hit the bottle with its gripper.<br />
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<object class="BLOGGER-youtube-video" classid="clsid:D27CDB6E-AE6D-11cf-96B8-444553540000" codebase="http://download.macromedia.com/pub/shockwave/cabs/flash/swflash.cab#version=6,0,40,0" data-thumbnail-src="http://i.ytimg.com/vi/_jBEX8C9hbI/0.jpg" height="266" width="320"><param name="movie" value="http://www.youtube.com/v/_jBEX8C9hbI?version=3&f=user_uploads&c=google-webdrive-0&app=youtube_gdata" /><param name="bgcolor" value="#FFFFFF" /><param name="allowFullScreen" value="true" /><embed width="640" height="480" src="http://www.youtube.com/v/_jBEX8C9hbI?version=3&f=user_uploads&c=google-webdrive-0&app=youtube_gdata" type="application/x-shockwave-flash" allowfullscreen="true"></embed></object></div>
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<span style="font-size: small;"> <span style="font-family: "Trebuchet MS",sans-serif;"><b>Side note</b>: <i>a more complex video is on its way... In the meantime, enjoy <span style="font-size: small;">the</span> more artistic side of BarRD</i></span><i>:</i></span><br />
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<span style="font-family: "Trebuchet MS",sans-serif;"><span style="font-size: x-small;"><i><br /></i></span></span>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-53983715088617898082013-02-24T10:58:00.000+02:002013-02-24T10:58:23.471+02:00Image processing: table and bottle detectionLately we've stepped into the computer vision area and worked on the image processing part of the project. The <span style="color: #f9cb9c;"><b>OpenCV</b></span> library was used.<br />
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There are four main tasks that need image processing in real time:<br />
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<span style="font-size: small;"><b> 1. Table detection</b></span></h4>
<b> </b>This is the first detection. The robot will localize the table from a distance and get close to it.<b> </b><br />
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<span style="font-size: small;"><b> 2. Bottle detection (1)</b></span></h4>
<b> </b>The first bottle detection is done while rotating around the table, in order to localize the bottle's position.<b> </b><br />
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<span style="font-size: small;"><b> 3. Bottle detection (2)</b> </span></h4>
The second detection is done while standing in front of the bottle. This is done mainly because of precision reasons.<b> </b><b> </b><br />
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<span style="font-size: x-small;"><b> <span style="font-size: small;"> 4. Cup detection</span></b></span></h4>
<b> </b>The last processing is done with the purpose of localizing the cup in which the liquid will be poured.<b></b><br />
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All of the above mentioned processing steps are done based on template matching, with various improvements within the algorithm.<b></b><br />
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<span style="font-size: small;"><b><i>What have we been up to?</i></b></span></h4>
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Up until now we've implemented steps 1 and 3, i.e., the table and bottle (2) detections.<b><i> </i></b><br />
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We have also worked on "centering" the captured image provided that we need this when the robot approaches the previously detected object.<br />
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<b> </b>Apart from this, a <i>LEGO ultrasonic sensor</i> has been installed, which brought improvements to the grabbing of the bottle.<b><br /></b>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-36244072777788573702013-02-02T00:45:00.000+02:002013-02-02T00:53:44.007+02:00Testing: grab -> lift -> pourA couple of hours of programming later and we were ready to run a test for <b>grabbing</b> the bottle, <b>lifting</b> it up, <b>pouring</b> liquid and bringing it back to its initial position.<br />
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For this, we used:<br />
<ol>
<li> a Lego motor that controls the gripper (grab)</li>
<li> a Lego motor that lifts up/descends the arm</li>
<li> a Lego motor that rotates the arm (pour)</li>
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and 2 Lego touch sensors:<br />
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<li>to set the home position of the arm for the rotation</li>
<li>to signal that the bottle has been grabbed</li>
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Below, you can find a demo that illustrates the above mentioned steps:<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/0BTzSFjdDxo?feature=player_embedded' frameborder='0'></iframe></div>
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<span style="font-size: x-small;"><span style="font-family: Arial,Helvetica,sans-serif;"><b>Side note</b><i><span style="font-size: x-small;">:</span></i> <i>for now, the pouring process is in <span style="font-size: x-small;">"</span>simulation mode"<span style="font-size: x-small;"> </span>only</i> :)</span></span>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-78292917388704192122013-02-02T00:06:00.000+02:002013-02-02T00:06:16.915+02:00More stability, pleaseWhile testing the robot's movements, such as plain straight drive, rotations, brakes and arm lifting, we noticed that the robot had the tendency to balance back and forth.<br />
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As a solution to this instability problem, we attached a metallic piece to the backside of the iRobot device:<br />
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<a href="http://4.bp.blogspot.com/-OI_Ggygv3RI/UQw7PPEkxiI/AAAAAAAACJM/NzYt1uyDcBs/s1600/IMAG0398.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="380" src="http://4.bp.blogspot.com/-OI_Ggygv3RI/UQw7PPEkxiI/AAAAAAAACJM/NzYt1uyDcBs/s640/IMAG0398.jpg" width="640" /></a></div>
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This turned out to be a tremendous help!Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-74499450610123136242013-01-09T18:37:00.001+02:002013-01-09T18:49:11.438+02:00Testing ...<iframe allowfullscreen="" frameborder="0" height="480" src="http://www.youtube.com/embed/NxV3NEPKTaE" width="640"></iframe><br />
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As you can see, our robot is almost fully constructed and we are starting to test it.<br />
Here we were testing if BarRD keeps its equilibrium while holding a bottle of juice.Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-12668680787178469872013-01-09T14:27:00.000+02:002013-01-09T14:27:10.472+02:00Arm 2.0 - the final version<div style="text-align: justify;">
Until now, you have seen the gripper and the "wrist". After putting the two of them together this is what we got:</div>
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<a href="http://1.bp.blogspot.com/-cvK4MJIrXr0/UO1esWUMtnI/AAAAAAAAAMI/TMgkBBP4lVA/s1600/IMAG0349.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="191" src="http://1.bp.blogspot.com/-cvK4MJIrXr0/UO1esWUMtnI/AAAAAAAAAMI/TMgkBBP4lVA/s320/IMAG0349.jpg" width="320" /></a></div>
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Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-41908080455782208562013-01-04T21:15:00.000+02:002013-01-09T15:32:01.913+02:00Working ...<iframe allowfullscreen="" frameborder="0" height="480" src="http://www.youtube.com/embed/NgvTmiNkPXY" width="640"></iframe>Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-43951966829383406162012-12-19T13:07:00.001+02:002012-12-19T13:07:53.558+02:00Arm 1.2A week ago we had the bottle grabber, but we also needed something similar to a wrist. This is why we built a new part. The following pictures show the gripper (on the left side) along with the newly constructed part that rotates the entire arm (on the right side).<br />
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<a href="http://4.bp.blogspot.com/-oGky_JiiayI/UNGbzB32RpI/AAAAAAAAALk/SVXhBWHR2ik/s1600/brat1.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://4.bp.blogspot.com/-oGky_JiiayI/UNGbzB32RpI/AAAAAAAAALk/SVXhBWHR2ik/s320/brat1.JPG" width="320" /></a></div>
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<a href="http://4.bp.blogspot.com/-QCMe8qSnVes/UNGb2iYQTEI/AAAAAAAAALs/vaOTj_NWExs/s1600/brat2.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://4.bp.blogspot.com/-QCMe8qSnVes/UNGb2iYQTEI/AAAAAAAAALs/vaOTj_NWExs/s320/brat2.JPG" width="320" /></a></div>
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You can see how the arm moves to the left or to the right, depending on the direction in which the motor moves.Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-12483228801811202022012-12-19T11:55:00.000+02:002012-12-19T11:55:44.988+02:00The robotIn a previous post I told you that we have printed 3d parts for our robot and I showed you a few of them, but you don't know yet how BarRD looks like. So it is time for a picture with it:<br />
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<a href="http://3.bp.blogspot.com/-5mr051bX2MU/UNGLw2o_uOI/AAAAAAAAALU/leIllhvWFiI/s1600/IMG_0002.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="http://3.bp.blogspot.com/-5mr051bX2MU/UNGLw2o_uOI/AAAAAAAAALU/leIllhvWFiI/s400/IMG_0002.JPG" width="300" /></a></div>
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As you can see, we used as platform an IRobot Create, and above it we built a metal support. The lego motor moves the threaded rod, which will move the arm up and down.</div>
<br />Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-81837082821888219232012-12-13T19:25:00.000+02:002012-12-13T19:38:05.842+02:00We have the arm!!!Now, when we finally finished the construction of the arm, it is time to tell you more about its history.<br />
First of all, we created an arm using lego parts and then we wrapped adherent material around the claws.<br />
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<a href="http://2.bp.blogspot.com/-oP4uWrLTFLI/UMoHqvM-7DI/AAAAAAAAAKU/7NW_Uzd1s0Q/s1600/IMG_20121114_114912.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://2.bp.blogspot.com/-oP4uWrLTFLI/UMoHqvM-7DI/AAAAAAAAAKU/7NW_Uzd1s0Q/s320/IMG_20121114_114912.jpg" width="320" /></a></div>
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Unfortunately, this wasn't the best solution because it was frail, and we weren't sure it could always support the weight of a bottle. And since we didn't want to risk we decided to build another arm. With help from our coordinator, we now have a more robust bottle grabber which looks like this:</div>
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<a href="http://1.bp.blogspot.com/-HVnblF-CtUY/UMoM1pYHv1I/AAAAAAAAAKk/BHgvmUZ5uZ8/s1600/IMAG0340.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="191" src="http://1.bp.blogspot.com/-HVnblF-CtUY/UMoM1pYHv1I/AAAAAAAAAKk/BHgvmUZ5uZ8/s320/IMAG0340.jpg" width="320" /></a></div>
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As you can see, it is mostly done using 3d printed parts<span style="font-family: Arvo;"><span style="line-height: 18px;"><span style="font-size: x-small;"> </span>and a lego motor which moves the </span><span style="line-height: 18px;">threaded rod, and in turn it makes the claw move.</span></span>Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-52612089200235204882012-11-28T14:47:00.000+02:002012-11-28T15:01:44.097+02:003D Printer<div dir="ltr" style="text-align: left;" trbidi="on">
For the past few weeks we projected and printed several parts for our robot using the 3D Printer: Orca.<br />
And, since it was (and will be) really helpful for us, I thought it would be nice to post something about it.<br />
Here is the 3D printer Orca v042 working:<br />
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<a href="http://4.bp.blogspot.com/-5bKPnkTGXvg/ULYGB_xcswI/AAAAAAAAAJU/3ZVqtb3mt7c/s1600/IMG_0003.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://4.bp.blogspot.com/-5bKPnkTGXvg/ULYGB_xcswI/AAAAAAAAAJU/3ZVqtb3mt7c/s200/IMG_0003.JPG" width="200" /></a><a href="http://1.bp.blogspot.com/-ziy6GsLm2-A/ULYGG-VEnWI/AAAAAAAAAJc/wT9skWuPPwU/s1600/piesa.JPG" imageanchor="1" style="clear: right; display: inline !important; margin-bottom: 1em; margin-left: 1em;"><img border="0" height="150" src="http://1.bp.blogspot.com/-ziy6GsLm2-A/ULYGG-VEnWI/AAAAAAAAAJc/wT9skWuPPwU/s200/piesa.JPG" width="200" /></a></div>
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and some 3d printed parts:<br />
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<a href="http://2.bp.blogspot.com/-amUQsxyqpXg/ULYG9fSBmFI/AAAAAAAAAJ4/sYy8KYIByv0/s1600/robo_5.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-amUQsxyqpXg/ULYG9fSBmFI/AAAAAAAAAJ4/sYy8KYIByv0/s200/robo_5.png" width="200" /></a><a href="http://3.bp.blogspot.com/-s9bD5xHtg9Q/ULYG7boXkFI/AAAAAAAAAJo/1KfkKQKwolY/s1600/robo_3.png" imageanchor="1" style="display: inline !important; margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-s9bD5xHtg9Q/ULYG7boXkFI/AAAAAAAAAJo/1KfkKQKwolY/s200/robo_3.png" width="200" /></a><a href="http://2.bp.blogspot.com/-amUQsxyqpXg/ULYG9fSBmFI/AAAAAAAAAJ4/sYy8KYIByv0/s1600/robo_5.png" imageanchor="1" style="clear: left; display: inline !important; margin-bottom: 1em; margin-right: 1em; text-align: left;"> <img border="0" height="150" src="http://3.bp.blogspot.com/-gP-4nbWd3u8/ULYG8JrxR5I/AAAAAAAAAJw/yIAxu54SuFo/s200/robo_4.png" style="text-align: center;" width="200" /></a></div>
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Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.com0tag:blogger.com,1999:blog-2034659550964830773.post-16538280004964466712012-11-28T14:22:00.000+02:002012-11-28T14:22:00.455+02:00Hello!<div dir="ltr" style="text-align: left;" trbidi="on">
Welcome to our blog! <div>
As you know, we are trying to build a robot that can pour liquid into a glass. For this, we are going to use:</div>
<div style="text-align: left;">
<ul style="text-align: left;">
<li>IRobot Create</li>
<li>Lego Mindstorms NXT </li>
<li>3d printed parts</li>
<li>OpenCV</li>
</ul>
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There will be two motors: one to grab the bottle and the other one to rotate it (like a wrist)</div>
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Anonymoushttp://www.blogger.com/profile/03436031611523552966noreply@blogger.com0