Terminator T-Eddy
09-04-2014, 04:51 AM (This post was last modified: 09-06-2014 08:33 PM by eried.)
Post: #1
 eried Senior Member Posts: 744 Joined: Dec 2013
Terminator T-Eddy
I am building a little robotic Teddy for telepresence (Surrogates but fluffy)
https://cloudup.com/iIWCeZmU5gZ

The angles are changed quite erratically due mostly the noise in the depth capture in kinect ( :/ teddy will seem to have parkinson's?). Since there is a lot of math wizards and I used NCalc engine to interpret expressions for the servos and other outputs (cheek-redness will be one), any clever/fast idea to smooth all the movements?:

Code:
# Face servo3=180-(90+Max(-90,Min(90,Face_ay*2))) # Right hand servo4=180-Max(0,Min(180,(ElbowRight_ay)*180)) servo7=Max(0,Min(180,(WristRight_hw)*180)) # Left hand servo6=Max(0,Min(180,(Abs(ElbowLeft_ay))*180)) servo5=180-Max(0,Min(180,(WristLeft_hw)*180)) # Cheeks pwm1=0 pwm2=0

NCalc supports probably all the same things from an algebraic input like the one in the 50g (all the not recognized parameter are in this moment interpreted by my routine who combines the face tracking and kinect data, so BodyPart_<h=hierarchical rotation;a=absolute;p=position><x,y,z,w=coordinate> is the simplified version of the vector)

edit: Here are the arms working https://cloudup.com/iZz9lOo-8ot

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My website: erwin.ried.cl
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