An inexpensive hand-eye system for undergraduate robotics instruction

Authors:
Glenn V. Nickens;Ethan J. Tira-Thompson;Thorna Humphries;David S. Touretzky
Affiliations:
Norfolk State University, Norfolk, VA, USA;Carnegie Mellon University, Pittsburgh, PA, USA;Norfolk State University, Norfolk, VA, USA;Carnegie Mellon University, Pittsburgh, PA, USA
Venue:
Proceedings of the 40th ACM technical symposium on Computer science education
Year:
2009

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Abstract

Hand-eye systems combine computer vision with kinematics and dynamics calculations to achieve dexterous manipulation. These versatile platforms for teaching robotics principles have not been widely used in undergraduate laboratories due to cost. We describe a new hand-eye system constructed from Robotis Dynamixel servos, a USB interface module, and a webcam, that can be built for under $500 and run by a PC using the Tekkotsu open source software framework. A suggested curriculum is outlined.