Robot Intelligence Development Environment(RIDE)

I developed a robot simulator, RIDE. RIDE presents a simple and efficient method for modeling a robot cognition system using synthetic vision in virtual environments. Virtual robots perceive external stimuli through a synthetic vision system and use the perceived data for navigation and action. I made my own graphics engine with OpenGL and used Open Dynamics Engine(ODE). RIDE is composed of two things, RIDE Editor and RIDE Simulator.

RIDE Architecture

Synthetic Vision Results

Robots and Environments

Map-Building Using Synthetic Vision

RIDE Sim RIDE Editor

Face Expression

Goal Driven Agent Test

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Eyebot

EyeBot was developed at he University of Western Australia. The robot has differential steering, three infrared position sensitive devices (PSDs), a color CMOS camera, a digital compass, and a wireless communication module. The three distance data values from the PSDs and the robot's current location (delivered by shaft encoders) are sent to the host computer to update the map-building with HIMM in real-time. A new path is generated using the A* algorithm and transmitted to the robot. 3D map building is also constructed with distance data and the current robot position.

Architecture

Robot Control Program

Go to a destination in a unknown environment

Eyebot

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Haptic Device

This was a haptic device, detecting the status of your hands. I used neural network algorithm for recognizing the status of a hand. If you express a gesture with this glove, the control program can recognize the gesture, but desired gestures must be trained before using this haptic device.
Spec : 5 Flex Sensors, PIC MCU, 1 Bluetooth

Architecture

BP Training and Recognition Program

Haptic Glove

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Four Legged Robot

I made a four legged robot. It could walk, build a map and avoid obstacles. Histogram In Motion Mapping(HIMM) and Vector Field Histogram(VFH) were used for navigation and I implemented the control program which could build the 3D map of environment, generate behaviors of the robot and test the algorithms of map-building and obstacle avoidance.

Spec : 14DOF, AI Motor, 1 LCD, PIC MCU, 5 Ultrasonic Sensors, 1 Bluetooth, 1 Touch Sensor
I won several contests in Korea with this robot.

Architecture of Four Legged Robot

Robot Control Program

Motion Generator

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My First Biped Robot

This robot was my first biped robot which I designed all of it. I made a program to generate behaviors of this robot. I could make various behaviors without a real robot and then I could apply the created behaviors to the real robot.

Spec : 19DOF, AI Motor, PIC MCU, 1 Bluetooth

Motion Generation & Motor Control Program

Biped Robot

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My backpacks

Boblbee is my favorite back pack. White one is People's delite and black one is Megaloplis Aero.

Nao

Recently, my team purchased Nao, a humanoid robot. I am going to give Nao emotion. It can express its emotion someday.