Integración de Arbotix, Raspberry Pi y motores Dynamixel Ax-12+ para un robot humanoide que busca y patea pelotas

Abstract

This article presents DeBuPa (Detección Búsqueda Pateo), a small humanoid (38 cm tall) built with the Bioloid Premium Kit. The CM-510 card has been excluded to be replaced by the Arbotix controller card, which is used to control the 16 motors Dynamixel AX-12 + (for moving the robot) and 2 analog servo (to move the camera). The camera has been connected to a Raspberry Pi mini- computer, as to enable the robot to autonomous detect and track the ball movements. All those actions must be properly coordinated so that the robot accomplishes the tasks of detection, tracking and kicking of the ball, requiring fluent communication between the Arbotix and Raspberry Pi. The tool used for this is the ROS (Robot Operating System) framework. The C++ language is used in the Raspberry Pi, a program capturing, filtering and processing the camera images, to find the ball, decides the action to take, and requests the Arbotix to execute the movements of the motors. To capture the camera images. The RasPiCam CV library is used to capture the camera images and the OpenCV libraries for the filtering and processing of the images. In addition, to steering the engines, the Arbotix takes care of the balance of the robot using as input signals of the Robotis Gyro sensor. If Arbotix detects an imbalance and even if the robot has fallen, the mechanism tries to help the robot to stand up.