Overview

In Volume 2, the author's goal remains the same, which is to help owners of the ROBOTIS ENGINEER Robotics Kits make the most use out of the hardware and software available to them, by integrating the kits with Single Board Computers (SBC) such as RPi4B and Jetson Nano. Volume 2 has 4 chapters (labeled from 4 to 7): Chapter 4 starts with the Commando robot, adds a Pan-Tilt platform for Pi camera and integrates an RPi4B to the CM-550. Project investigated include Dual Control from Mobile Device/PC, Autonomous Obstacle Avoidance, RPi4B as Vision-Processor/Remote-Controller, PC as Data-Hub/Supervisory-Controller using ZGB-SDK or Boost ASIO, Using DXL-HAT and DXL-SDK for Independent Dynamixel Networks Control. Chapter 5 begins with the Quadruped robot, adds 4 XL430s and produces 4 robot variants which are used to explore similar concepts/ideas described in Chapter 4 but now as a robot whereas the Camera is attached rigidly to its chassis. This requires the robot to change its mechanical poses to aim the camera where needed. These special moves were implemented using Motion Units and Joint Offsets via TASK/MOTION interfaces. For Python/C++ interfaces, DXL-SDK is used with servos set in Time Control and using standard Python/C++ arrays as Motion Arrays. The final project showcases the use of a PC as Supervisory Controller of two SBC-enhanced robots. Chapter 6 sets out with the SPI robot and adds a Pan-Tilt to control its Camera. This robot is used to develop different integration concepts with either RPi4B or Jetson Nano, using similar projects described in Chapters 4 and 5. Chapter 7 builds on Chapters 4, 5 and 6 to construct a MAX-E2 based robot, equipped with a Pan-Tilt platform + Pi Camera as its Head Assembly, along with an RPi4B mounted on its back. It uses separate cables to power the CM-550 and RPi4B controllers. The challenge is to maintain static and dynamic balance due to extra hardware that this bipedal robot carries. This challenge is accomplished using static Motion Offsets and dynamically adjusted Joint Offsets set into critical servo-joints.

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