機(jī)器人體驗(yàn)營(yíng)筆記（二）基礎(chǔ)

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For specific information, please refer to the reference at the end of the article.

概念 Concept

1. 行為模式?Behavior

機(jī)器人行為由精心設(shè)計(jì)的算法和表示構(gòu)建的機(jī)制。Autonomous robot behaviors are?mechanisms constructed from carefully?designed algorithms and representations.

基礎(chǔ)技術(shù)：Underlying technologies:

有限狀態(tài)機(jī)、事件觸發(fā)結(jié)構(gòu)。State machines; event-based?architectures.

2. 視覺(jué)感知?Visual?Perception

機(jī)器人使用復(fù)雜但不完美的計(jì)算機(jī)視覺(jué)算法來(lái)從像素陣列推導(dǎo)出真實(shí)世界的對(duì)象表示。Robots use sophisticated but imperfect computer vision algorithms to deduce real world object representations from arrays of pixels.

基礎(chǔ)技術(shù)：Underlying technologies:

Hough變換; 人臉檢測(cè)算法; ArUco標(biāo)記等。Hough transforms; face detection algorithms; ArUco markers; much more

3. 定位?Localization

機(jī)器人使用里程計(jì)、視覺(jué)地標(biāo)和其他類型的傳感器信息來(lái)估計(jì)他們?cè)谑澜缟系奈恢谩obots estimate their position in the world using a combination of odometry, ?visual landmarks, and other types of sensor information.

基礎(chǔ)技術(shù)：Underlying technologies:

粒子濾波器; SLAM（同時(shí)定位和地圖構(gòu)建）算法。?Particle filters; SLAM (Simultaneous Localization and Mapping) algorithms.

4. 路徑規(guī)劃 Path Plan

機(jī)器人使用路徑規(guī)劃器在世界中導(dǎo)航，以搜索障礙物周圍的路線以達(dá)到目標(biāo)。Robots navigate through the world using a path planner to search for routes around obstacles to reach their goal.

基礎(chǔ)技術(shù)：Underlying technologies:

路徑規(guī)劃算法，如波前算法或RRT（快速探索隨機(jī)樹(shù)）。Path planning algorithms such as wavefront algorithms or RRTs (Rapidly-exploring Random Trees)

5. 控制 Control

機(jī)器人本體被描述為運(yùn)動(dòng)樹(shù)，并使用運(yùn)動(dòng)學(xué)求解器在關(guān)節(jié)角度和本體坐標(biāo)之間進(jìn)行變換。Robots describe their bodies as kinematic trees and use kinematics solvers to translate between joint angles and body coordinates.

基礎(chǔ)技術(shù)：Underlying technologies:

運(yùn)動(dòng)學(xué)描述文件; Denavit-Hartenberg慣例; 正向和反向運(yùn)動(dòng)學(xué)求解器。Kinematic description files; Denavit-Hartenberg conventions; forward and inverse kinematics solvers.

6-10等更多內(nèi)容參考文獻(xiàn)，不一一列舉。

軟件開(kāi)發(fā)工具包 SDK

簡(jiǎn)要介紹Cozmo SDK，Introduction to the Cozmo SDK：

$ git clone https://github.com/anki/cozmo-python-sdk

通過(guò)USB連接蘋(píng)果或安卓手機(jī)并配置好。具體內(nèi)容參考之前博文。Connect your Apple or Android phone via USB and configure it. For details, please refer to the previous blog post.

測(cè)試 test：

運(yùn)行 hello world示例，Run the hello world demo by doing:

$ cd ~/cozmo-python-sdk/examples/tutorials/01_basics

$ ./01_hello_world.py

不同電腦依據(jù)配置稍有不同，但基本內(nèi)容一致。

嘗試一下遠(yuǎn)程遙控應(yīng)用？?Try the Cozmo remote control app by doing：

$ cd ~/cozmo-python-sdk/examples/apps

$ ./remote_control_cozmo.py

工具包 Tools

簡(jiǎn)要介紹Cozmo tools，Introduction to Cozmo-Tools：

下載：Download a private copy of the cozmo-tools package by doing:

$ git clone https://github.com/touretzkyds/cozmo-tools

配置環(huán)境：Add the cozmo-tools directory to your search path by putting the following lines in

your .bashrc and then doing "source .bashrc":

export PATH=~/cozmo-tools:$PATH

export PYTHONPATH=~/cozmo-tools

運(yùn)行，Run the simple_cli command line interpreter and display the camera viewer by doing：

$ simple_cli

等待完成，再運(yùn)行，then, doing：

C> show viewer

C> show worldmap_viewer

C> show particle_viewer

在環(huán)境中遙控機(jī)器人，查看各窗口中演示的結(jié)果。Using the WASD keys in the particle viewer window, turn Cozmo so he can see a cube. What happens in the worldmap viewer?

Vector機(jī)器人資料，請(qǐng)自主查找。更多功能，更多內(nèi)容。

持續(xù)更新完善，時(shí)間標(biāo)簽：2019-07-25。

參考文獻(xiàn)references：

Anki文檔：http://cozmosdk.anki.com/docs/

cozmopedia：https://github.com/touretzkyds/cozmopedia/wiki

認(rèn)知機(jī)器人學(xué)：https://blog.csdn.net/ZhangRelay/article/details/86736743

機(jī)器人

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