Arm Assembly
The arm assembly took place according to the instructions provided by Chris Annin's robot kit.
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ROS2
The ROS2 system is what controls the COBOT. It is hosted on a Linux laptop that is connected to the COBOT inside of the power box. Included below is a system diagram of how the ROS2 system works with the other interfaces.
Speech Recognition
The COBOT utilizes the CMUSphynx speech recognition engine for detecting when a user would like to perform a certain task and signalling the ROS2 system to take the appropriate action. Included below is a diagram for the different possible states.
EMG
The EMG subsystem will make use of an EMG sensor to partially control the COBOT system using one's own muscles.
Visual Recognition
The main goal of the Visual Recognition system is to have the COBOT be able to detect hand gestures (principally stop, thumbs up, and thumbs down) In addition, this subsystem will have the COBOT be able to detect objects visually so that it can pick them up.
TechnologiesLabelStudio, Python, YOLOV4 Tiny, Google Colab, Pico Flexx, Pico Flexx Python SDK, C++, Darknet, Make
Python LibrariesOpenCV, Matplotlib, Darknet interface libraries
Team Members
Wilner Viana
Electrical Engineering 2022
wgomesviana2020@my.fit.edu
Daniel Wall
Computer Engineering 2022
dwall2018@my.fit.edu
Jacob Overberg
Electrical Engineering 2022
joverberg2018@my.fit.edu
Thomas Muller
Computer Engineering 2022
tmuller2017@my.fit.edu
Andrew Neal
Electrical Engineering 2022
aneal2018@my.fit.edu
John Farrell
Computer Engineering 2022
farrell2017@my.fit.edu
Chris Bonomi
Computer Engineering 2022
cbonomi2018@my.fit.edu
Ben Luchterhand
Computer Engineering 2022
bluchterhand2018@my.fit.edu