Web Telepresence & Robot Mechanisms
Web Telelpresence
MAX/WAX: Teleoperated Internet Robot
MAX was a wireless, high-availability, teleoperated robot controllable from any Java-enabled web browser with a connection to the Internet of 14.4 KBS or faster.
MAX has gone through several
iterations, starting as a prototype as MAX 1--a dog on a very long
leash. He was rebuilt to improve performance and reliability and
improvements were made to the video and control software. MAX was
superceded by WAX, he has been reconfigured as a security robot and
watches over the computer servers in the N-CART lab.
WAX is provided with 2 Java Applet windows. One provides a simple control interface and the other provides a controllable stream of JPEGs showing the viewer what MAX is aimed at.
CLICK HERE TO VIEW A BRIEF MAX VIDEO (400 K)
CLICK HERE TO VIEW A TOUR OF THE MAX LAB (1.4 M)
Consumer Internet Robot Prototype
We have constructed an analog prototype of a robot that is designed for the consumer market.
This inexpensive device could become a home security device or one of the monitoring tools in
retirement homes and hospitals. The robot will observe what is going on around it and through
intelligent image understanding be able to call for help if the scene changes beyond what is expected.
For example, such a device might be useful for the aged, handicapped or ill who would be tracked
visually and a call for help made if they fall over suddenly.
CLICK HERE TO VIEW THE CIR VIDEO (3.8 M)
Experiments Supporting Web-Enabled Internet Appliances
We are conducting an on-going study designed to document the reality of movement and interaction of a
Web-enabled mobile teleoperated device in a dynamic, unstructured indoor environment.
Our goal is to document anomalies in the form of extensive recreation and annotated video.
We have undertaken this task in order to develop strategies, tools and techniques for dealing with
mobility issues likely to be encountered by actual teleoperated devices in their role as Internet Appliances (IAs).
CLICK HERE TO VIEW DIRECTED OBSTACLE AVOIDANCE (590 K)
Robot Mechanisms
The Artificial Inchworm Project
Flexible, robust and extremely stable,
the larvae of the Geometer moths, or inchworms, exhibit mobility which
should be the envy of many man-made systems. The inchworm is capable of
maneuvering in extremely small spaces, can do so in arbitrary
orientations to gravity and can withstand substantial external forces
attempting to diverge it from its intended course. It can do these
things because its mobility system is governed by a simple rule--"Never
let go of what you're holding until you're holding something else!"
CLICK HERE TO VIEW A VIDEO OF THE INCHWORM (2.6 M)
The Cassandra Project -- Serious Sumo Robotics
Cassandra is a 115 lb teleoperated cube built predominantly by a succession of Electrical Engineering Students
at Ryerson and currently maintained by Jeff Dickson.Devised and constructed in 1998 (and named after Alex's second child),
it was entered into the Ontario College of Art and Design's Robot Sumo Challenge--it was a miserable failure.
The students vowed that this would not happen again. In 1999 it won the competition against the previous year's
champion "E is for Epsilon" and changed the way serious competitors saw the world.
CLICK HERE TO VIEW A VIDEO OF THE EVENT
Other 1999 OCAD Sumo Challenge Entries
In addition to the success of Cassandra, a number of other robots were entered including "Charlotte the Attack Cow",
a differentially steered, water-firing light-weight sumo robot that was quickly defeated.
The Inchworm was entered in the dancer/painter class--driven by Alex's daughter Charlotte--they won.
CLICK HERE TO VIEW A VIDEO OF "Charlotte the Attack Cow" AND THE "Inchworm" (4.5 M)
On-board Sumo Robot Camera
Members of the lab actively support the Ontario College of Art and Design's Robot Sumo Challenge Competitions.
Normally, the lab sponsors several entries. Recently we have started experimenting with on-board cameras.
These cameras can be thought of as similar to those mounted on race cars...except these get beaten up by other robots.
CLICK HERE TO VIEW A VIDEO OF "AS SEEN ON TV" VS. "THE INCHWORM" (1.2 M)
Hexapod Robot with Alternating Tripod Gait
N-CART is particularly interested in the simplification of mobility schemes for mobile robots. We have been working to reduce the amount of
control electronics and actuation hardware required for propulsion.
T This hexapod robot relies on two servos to create forward motion and allow steering. The benefit is that the robot can be made from lighter weight material thus allowing heavier payloads to be carried.
CCLICK HERE TO VIEW A VIDEO OF DOUBLE SERVO HEXAPOD WALKING (4 M)
Gaitless Unstable Hexapod Robot
The Solenodon research robot is a six legged mechanical
walking platform designed at the N-CART lab. It was our
goal to develop a platform that would facilitate the
examination of issues involving stability in walking
robots. The vehicle is available in several configurations
ranging from fully teleoperated to low level autonomous
operation.
CLICK HERE TO VIEW A VIDEO OF THE SOLENODON (5.2 M)
