The personal Robot Interaction Companion
See R.I.C. in action:
|Robot Server||Runs the ROS system of the Cobot.|
|Motion Terminal||Fest VTEM module for transforming ROS commands into pneumatic pressure at the robot joints|
|Bionic Cobot||Festo humanoid robot arm|
|Control Server||Runs Node.js to control the game flow via state machine and interact with the robot server via ROS bridge messages|
|Referee Server/LiDAR||Placed Vertically in front of our R.I.C. System, the referee measures the reaction time and also makes sure that the next iteration of the game will only be started once the players hand is completely removed from the game area.|
|Amazon Alexa||Natural speech interface to start the R.I.C. via
|Amazon Web Services||The backend running the Alexa program and sotring the game scores|
For developing the
Control Server Festo provided a Virtual Machine with a Cobot simulator. This allows to run the
Control Server offline without access to the real hardware.
The following shows the games state machine. The implementation can be found under rosjs/lib/game.js.
Note: In order to discover the RPLIDAR sensor on your COM ports, you need to install the driver.
Download the driver from here
Install dependencies using:
pip install rplidar requests numpy
Install the NPM dependencies using
cd control-server npm install
Publish the Skill available in
/alexa to a development account connected with our local Alexa device.
Start the referee server using
$ python referee-server/lidar_referee.py
Start the control server using
$ node control-server/index.js --ros_master <ros_master_ip>
The Cobot is running V1.1 and a modified pressure regulation on the VTEM which allows R.I.C. to detect collissions earlier on without going into failure mode.
- Simone Spiegler
- Frederik Held
- Tim Großmann
- Andreas Offenhaeuser
- Patrick Bunda