History

OMF-enabled robot

The OMF-enabled robot at NICTA is a Roomba iRobot with a custom designed tray to hold a mini PC-board (such as an ALIX board or a small notebook). This embedded PC can send commands to the robot over a serial port and can be powered off the robot's own battery. It runs Linux with the OMF Resource Controller (RC), and therefore can be part of an experiment. The upward facing webcam is used to read markers on the ceiling, which the robot uses to navigate around the building.

1. A software to control the Robot.

We developed a middleware navigation software, which the OMF RC uses to control the Robot. The development notes for this software are available: here

A Short video demonstration of this navigation software is available here: http://omf.mytestbed.net/videos/demo-robot-nav.mp4

2. Other materials Photos

Here are some pictures and another video of a prototype of the OMF-enabled robot.





omf-robot-clip.mp4 (12.1 MB) Christoph Dwertmann, 20/09/2010 04:30 pm

r_photo_1.jpg (67.9 kB) Christoph Dwertmann, 20/09/2010 04:30 pm

r_photo_2.jpg (67.7 kB) Christoph Dwertmann, 20/09/2010 04:30 pm

r_photo_3.jpg (74.5 kB) Christoph Dwertmann, 20/09/2010 04:30 pm

r_photo_4.jpg (77.9 kB) Christoph Dwertmann, 20/09/2010 04:30 pm

r_photo_5.jpg (69.2 kB) Christoph Dwertmann, 20/09/2010 04:31 pm