{"id":132,"date":"2016-11-29T18:59:05","date_gmt":"2016-11-29T18:59:05","guid":{"rendered":"https:\/\/naocontroller2017.pages.tcnj.edu\/?p=132"},"modified":"2016-11-29T18:59:05","modified_gmt":"2016-11-29T18:59:05","slug":"controller-rough-design-gesture-sensor-progress","status":"publish","type":"post","link":"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/2016\/11\/29\/controller-rough-design-gesture-sensor-progress\/","title":{"rendered":"Controller Rough-Design and Gesture Sensor Progress"},"content":{"rendered":"<p>Controller development and sensor programming has been underway for a few weeks now. Right now, we have a rough mock-up since we aren&#8217;t nearly ready to finalize the design and only one of the sensors is up and working as expected. Nevertheless, we are still able to get a good feel of how we will interact with the controller when using the gesture sensor, which controls the robot&#8217;s leg motion.<\/p>\n<p>The sensor takes up to 15 gestures, but we are currently implementing\u00a06\u00a0to avoid making things unnecessarily complicated. We want the controller actions to be\u00a0intrinsic, rather than heavily involved and requiring memorization\/studying beforehand. After all, things are supposed to be\u00a0<em>easier\u00a0<\/em>with a controller, not harder!<\/p>\n<p>So, without further ado, here is the current controller design with the gesture sensor mounted at the top. The arduino board sits atop an arm brace which has Velcro supports around the forearm and palm. We found this configuration to be more comfortable and less cumbersome than the controller being mounted solely on the forearm.<\/p>\n<p><a href=\"http:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-content\/uploads\/sites\/57\/2016\/11\/gloveproto1-e1480445917532.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-133 size-full aligncenter\" src=\"http:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-content\/uploads\/sites\/57\/2016\/11\/gloveproto1-e1480445917532.jpg\" alt=\"gloveproto1\" width=\"622\" height=\"366\" srcset=\"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-content\/uploads\/sites\/57\/2016\/11\/gloveproto1-e1480445917532.jpg 622w, https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-content\/uploads\/sites\/57\/2016\/11\/gloveproto1-e1480445917532-300x177.jpg 300w\" sizes=\"auto, (max-width: 622px) 100vw, 622px\" \/><\/a>The image above shows the controller&#8217;s proper orientation for gesture input. The user will pass their hand over the sensor \u00a0in any of the 6 directions shown below and that will be sent to the robot for execution.<\/p>\n<p><a href=\"http:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-content\/uploads\/sites\/57\/2016\/11\/GestureSensorDiagram.png\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-139 size-full aligncenter\" src=\"http:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-content\/uploads\/sites\/57\/2016\/11\/GestureSensorDiagram.png\" width=\"968\" height=\"500\" srcset=\"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-content\/uploads\/sites\/57\/2016\/11\/GestureSensorDiagram.png 968w, https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-content\/uploads\/sites\/57\/2016\/11\/GestureSensorDiagram-300x155.png 300w, https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-content\/uploads\/sites\/57\/2016\/11\/GestureSensorDiagram-768x397.png 768w\" sizes=\"auto, (max-width: 968px) 100vw, 968px\" \/><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Controller development and sensor programming has been underway for a few weeks now. Right now, we have a rough mock-up since we aren&#8217;t nearly ready to finalize the design and only one of the sensors is up and working as expected. Nevertheless, we are still able to get a good feel of how we will &hellip; <a href=\"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/2016\/11\/29\/controller-rough-design-gesture-sensor-progress\/\" class=\"more-link\">Continue reading <span class=\"screen-reader-text\">Controller Rough-Design and Gesture Sensor Progress<\/span> <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":91,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"ngg_post_thumbnail":0,"footnotes":""},"categories":[2],"tags":[],"class_list":["post-132","post","type-post","status-publish","format-standard","hentry","category-updates"],"_links":{"self":[{"href":"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-json\/wp\/v2\/posts\/132","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-json\/wp\/v2\/users\/91"}],"replies":[{"embeddable":true,"href":"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-json\/wp\/v2\/comments?post=132"}],"version-history":[{"count":0,"href":"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-json\/wp\/v2\/posts\/132\/revisions"}],"wp:attachment":[{"href":"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-json\/wp\/v2\/media?parent=132"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-json\/wp\/v2\/categories?post=132"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/engprojects.tcnj.edu\/humanoidrobotcontroller17\/wp-json\/wp\/v2\/tags?post=132"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}