My goal with this robot is to take it in steps and to increase my understanding of complex robotics and A.I. I originally was jsut going to deal with regognizing the full enviroment presented to it and that the Robot Arm would be able to move objects to either get to other ones or simply or organize them as it saw fit (unsupervised learning potentially for the task planning). But we in the A.I society had a showcase that was coming up and we wanted to show what we were doing so i Decided to break this up into three seperate projects of increasing complexity that I could create A.I to solve starting with a Tic-Tac-Toe bot that we could show-off at the showcase and make in under 2 weeks.
We have quite a few things you will need to install to get this all working properly. I would reccomend installing VMware onto your computer and putting Ubuntu Linux on it. It works great and you dont have to deal with dual booting linux. After that you can install all the other things oyu need tfor the project on the Linux OS you created through it.
In my case i have decided that I will use ROS2 for much of the higher level decisions and control that the Robot Operating System can provide. It is an open source middleware suite basically meaning that is provides direction and communication to a connected series of devices. You can find more info here: https://en.wikipedia.org/wiki/Robot_Operating_System
In order to recreate our project exactly (or closely) you will need to install ROS2 on both your computer and a raspberry pi 4.
We found the easiest way to get ROS2 working on your home compute is to use Oracle VM box and download a Debian distribution on Linux. You will also need to install a Debian Distribution onto The raspberry pi.
We used this link to get ROS2 installed https://docs.ros.org/en/crystal/Installation/Linux-Install-Debians.html
We decided to build our own robot modified from this open source design https://www.thingiverse.com/thing:1454048
So... being a college student whose wife will kill me if I spend more thn 100 bucks on a robot I will need to get creative. Which has its benefits. I plan on following a six step process which should help me in the creation of this 100 dollar robot (that I will be using to learn many high level skills i would hope will look favorable for a good internship) For each of these links it should take you to different aspects of the robot that I plan on working on so you can see how I accomplished them.
Now for these next steps each of these may be very similar or change a lot as I accomplish new tasks on the A.I side of things.
My plan with this robot is to take it in steps and to increase my understanding of complex robotics and A.I step by step as I get better with it. Firstly all three of these plans will use the ROS system but with increased complexity.
- Use the Robot to play Tic-Tac-Toe against a human player. (The task planning for this would be simple because you as the designer know the desired outcome and the steps it needs to do to get there.
- Use the Robot to play Chess against a Player. This will increase the task planning and decision making by quite a bit while still keeping it within the realm of supervised learning. I have already finished the portion of the A.I regarding to playing chess. The real issue is implementing this physically.
- Lastly I want to explore the unsupervised realm more by seeing If i can build a robot that trains itself to recognize3 and organize blocks using unsupervised learning techniques.
The current plan is to use Object detection with a camera above to have a robotic arm
- https://www.youtube.com/watch?v=aircAruvnKk&t=2s
- LEARN THIS TUTORIAL
- https://www.tensorflow.org/tutorials/keras/classification
https://www.sololearn.com/learning/1094
- Figure out how to do a camera stand
- zip ties (Cable Management)
- Learn ROS in more detail
- Get a servo to be controlled with solely the ROS and (arduino)
- Learn machine learning programming
- Neural network understanding
- begin to tackle individual parts
REMINDER
THIS IS A MASSIVE PROJECT THAT WE AM ACTIVELY WORKING ON
please understand that this is a long term project (like potentially upwards of a year)
I want to use this to fully understand every facet of higher robotic
concepts and how to utilize them to create a "smart" robot
Research ideas (aka things to learn while in this process)
http://manipulation.csail.mit.edu/ notes on an overall process MIT uses to create comp[lex decision makin robotics
ROS or Robotoc Operating system is a big goal of ours for this project. I want to learn how to use it well http://wiki.ros.org/ Sub wiki articles good to know about http://wiki.ros.org/smach
https://scottlocklin.wordpress.com/2020/07/29/open-problems-in-robotics/ where i created my own steps from this link
https://en.wikipedia.org/wiki/Robot_kinematics A good understanding of physics and specifically kinematics and how rigid structures with jointss are affected
This is basically doing the math to say when I move motor n, the system moves in Cartesian (x, y, z) by (i, j, k). This applies the other way too, where if you want to move i in x direction, you may need to move multiple motors together.
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