機(jī)器人體驗(yàn)營筆記（一）概要

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

課程描述?Course Description

本課程探討移動(dòng)機(jī)器人中智能行為的實(shí)現(xiàn)，重點(diǎn)關(guān)注Anki的Cozmo機(jī)器人。預(yù)備基礎(chǔ)是中級編程技巧和Python基礎(chǔ)。如果具備機(jī)器人技術(shù)或人工智能的經(jīng)驗(yàn)更佳，但這不是必需的。

This course explores the implementation of intelligent behavior in mobile robots, focusing on the Cozmo robot by Anki.

The prerequisite for the course is intermediate-level programming skills and facility with Python. Prior experience in robotics or artificial intelligence is helpful but not required.

學(xué)習(xí)目標(biāo)?Learning Objectives

學(xué)完本課程后，您將能夠：

使用Python在Cozmo機(jī)器人上編程智能行為。

掌握計(jì)算機(jī)視覺技術(shù)使用OpenCV識別標(biāo)記的對象。

設(shè)計(jì)機(jī)器人環(huán)境，實(shí)現(xiàn)基于視覺地標(biāo)的定位和導(dǎo)航。

使用語音識別實(shí)現(xiàn)機(jī)器人的語音控制。

評估對比三個(gè)Cozmo編程框架的優(yōu)劣：Cozmo Python SDK，Code Lab和ROS。

After taking this course, you will be able to:

Program intelligent behaviors on the Cozmo robot using Python.

Employ computer vision techniques using OpenCV to recognize markers and objects.

Design robot environments that facilitate visual landmark-based localization and navigation.

Use speech recognition to provide voice control of a robot.

Assess the strengths and limitations of three Cozmo programming frameworks: the Cozmo Python SDK, Code Lab, and ROS.

學(xué)習(xí)資源?Learning Resources

課程沒有教科書。There is no textbook for the course.

更多資源查閱：Cozmo、ROS1、ROS2、OpenCV和OpenAI的官網(wǎng)維基。

More resources: Cozmo, ROS1, ROS2, OpenCV and OpenAI's official website wiki.

環(huán)境配置??Laboratory configuration

手機(jī)Phone：安裝Cozmo_3.4.0最新版應(yīng)用。iOS直接在應(yīng)用商店查找安裝，Android在網(wǎng)上下載xapk包安裝。Install the latest version of Cozmo_3.4.0. iOS finds the installation directly in the app store, and Android downloads the xapk package online.

電腦PC：下載Cozmo_SDK、Cozmo_tools、ROS1驅(qū)動(dòng)和ROS2驅(qū)動(dòng)等，推薦使用Ubuntu 18.04 LTS桌面系統(tǒng)、VSCode等。Download Cozmo_SDK, Cozmo_tools, ROS1 drivers and ROS2 drivers, etc. It is recommended to use Ubuntu 18.04 LTS desktop system, VSCode and so on.

機(jī)器人Cozmo：連接無線，并依據(jù)提示更新系統(tǒng)。Connect WiFi?and follow the prompts to update the robot system.

配置和使用虛擬環(huán)境如下：install and set up virtualenv:

sudo apt-get install python-pip

pip install virtualenv

virtualenv -p python3.6 ~/cozmo-env

激活虛擬環(huán)境：activate the virtualenv any time you use cozmo:

source ~/cozmo-env/bin/activate

但有時(shí)候會運(yùn)行出錯(cuò)，推薦用如下命令完成在Ubuntu 18.04或16.04的配置。

To install the SDK, type the following into the Terminal window:

pip3 install --user 'cozmo[camera]'

升級：

To upgrade the SDK from a previous install, enter this command:

pip3 install --user --upgrade cozmo

機(jī)器人學(xué)習(xí)對場地的要求，一般而言比較高，這是由于機(jī)器人本身體積較大。有些競賽項(xiàng)目甚至需要體育館大小空間。Learning robots have a relatively high requirement for space on the site, because robots generally have large dimensions. Some competitions even require as much space as a gym.

但是學(xué)習(xí)Cozmo，通常只需一張A4紙大小的空間。But learning Cozmo usually requires only one A4 paper size space.

Cozmo機(jī)器人價(jià)格低于100美元/660元人民幣，全部材料配齊也遠(yuǎn)低于1000元人民幣。Cozmo robots cost less than $100/660 yuan, and the price of all materials is?below 1,000 yuan.

它是目前學(xué)習(xí)機(jī)器人學(xué)、機(jī)器人操作系統(tǒng)和人工智能最低成本的方案之一，但是功能非常強(qiáng)大！It is one of the lowest cost devices for learning robotics, ROS and AI, but it is very powerful!

硬件架構(gòu)、軟件設(shè)計(jì)和課程生態(tài)都是非常豐富多彩的。The hardware architecture, software design, and curriculum ecology are all outstanding.

它由300多個(gè)部件組成。It consists of more than 300 parts.

它內(nèi)部有四個(gè)電機(jī)，分別驅(qū)動(dòng)左輪、右輪、頭部和起重臂。It has four motors inside that drive the left wheel, the right wheel, the head and the lift.

三塊小電路板。Three small circuit boards.

一個(gè)攝像頭傳感器，可以輸出320x240的灰度或160x240的彩色圖像。A camera sensor that can output 320x240 grayscale or 160x240 color images.

面部為LED點(diǎn)陣顯示并配備一個(gè)揚(yáng)聲器。Its head has an LED dot matrix display and is equipped with a speaker.

皮克斯設(shè)計(jì)的動(dòng)畫表情包。Pixar Designer “Animations”

Vector機(jī)器人資料，請自主查找。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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