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In 2019, nearly every citizen can be a maker! As airships, airplanes and nukes were great inventions of 70’s, applied robotics are the topic you should worry today! Join Thomas, my apprentice, on this wonderful journey of exploration. You will find out what great tools you can use today. How PID controllers, Arduino, Teensy and ROS can be used together to build a robot. You will see which open hardware device should be used as a brain and which one as a heart. You will learn how to let robot sense the world around it and how to let it think! You will explore the possibilities of modern robotics and AI. Remember: The whole point of the doomsday machine is lost...if you keep it a secret! Slides from my talk which took a place at the WebExpo Prague 2019 conference at 20. 9. 2019. https://www.webexpo.net/prague2019/talk/how-you-can-build-a-robot-dr-strangelove-would-approve
Transcript
  • 1. Tomáš Jukin’s How You Can Build A Robot 
 Dr. Strangelove Would Approve!
  • 2. In a world full of dreamers…
  • 3. Where anything can be built…
  • 4. …where technology is lurking in the dark
  • 5. …where some of us, explorers, 
 might succeed…
  • 6. How can one describe a Maker’s adventure?
  • 7. Painfull Experience! as an exceptionally
  • 8. Tomáš Jukin
  • 9. Tomáš Jukin CTO at Juicymo
  • 10. Tomáš Jukin CTO at Juicymo @Inza /in/tomas.jukin @JuicymoEN /in/juicymo @tomas.jukin @JuicymoEN
  • 11. Meet my great mentor for today He is a man with great mind… …and few…deviations…
  • 12. Dr. Strangelove! Meet my great mentor for today He is a man with great mind… …and few…deviations…
  • 13. The beautiful journey and now, lets explore
  • 14. The beautiful journey and now, lets explore and understand the pain…
  • 15. of Modern #DYI Robotics
  • 16. The Goal
  • 17. To build a self steering rover + tank turning + remote The Goal
  • 18. #Probee
  • 19. #Probee + Arduino
  • 20. #Probee + Arduino + RaspberryPi
  • 21. #Probee + Arduino + RaspberryPi + Plastic
  • 22. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue
  • 23. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk
  • 24. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“
  • 25. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“ - Limited
  • 26. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“ - Limited - Basic
  • 27. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“ - Limited - Basic - No encoders
  • 28. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“ - Limited - Basic - No encoders - Power source problems
  • 29. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“ - Limited - Basic - No encoders - Power source problems I will fix them in future ;)
  • 30. #Probee
  • 31. #Probee
  • 32. #Probee #Rowee
  • 33. #Rowee
  • 34. #Rowee like Rower {
  • 35. #Rowee Cute like Rower { {
  • 36. What forms a Robot?
  • 37. Robot What forms a Robot?
  • 38. Hardware Robot What forms a Robot?
  • 39. Hardware Firmware Robot What forms a Robot?
  • 40. Hardware Firmware Software Robot What forms a Robot?
  • 41. Remote Hardware Firmware Software Robot What forms a Robot?
  • 42. Hardware Remote Hardware Firmware Software Robot What forms a Robot?
  • 43. Hardware Firmware Remote Hardware Firmware Software Robot What forms a Robot?
  • 44. What forms a Robot? RemoteRobot
  • 45. #Rowee What forms a Robot? RemoteRobot
  • 46. #Rowee Arduino Esplora What forms a Robot? RemoteRobot
  • 47. #Rowee Arduino Esplora Hardware Firmware Software Robot Hardware Firmware Remote What forms a Robot?
  • 48. Hardware Firmware Software Architecture What forms a Robot?
  • 49. Hardware Firmware Software Architecture What forms a Robot? Robot
  • 50. Hardware Firmware Software Architecture What forms a Robot? Robot
  • 51. Hardware Firmware Software Architecture What forms a Robot? Robot
  • 52. Hardware Firmware Software Architecture What forms a Robot? Robot
  • 53. Movement Firmware Architecture What forms a Robot? Robot Power Hardware Software
  • 54. Hardware Firmware Software Architecture What forms a Robot? Robot
  • 55. Hardware Firmware Software Robot What forms a Robot?
  • 56. Hardware Firmware Software What forms a Robot?
  • 57. HardwareHardware Firmware Software What forms a Robot?
  • 58. Hardware Hardware Control Hardware Firmware Software What forms a Robot?
  • 59. Hardware Hardware Control Low-Level
 Control Hardware Firmware Software What forms a Robot?
  • 60. Hardware Hardware Control Low-Level
 Control High-Level
 Control Hardware Firmware Software What forms a Robot?
  • 61. Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 62. Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 63. Hardware Abstration Layer Artificial Intelligence Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 64. Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 65. Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 66. Sensors Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 67. Sensors Power Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 68. Sensors PID Power Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 69. Sensors PID Power HAL Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 70. Sensors PID Commands Processing Power HAL Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 71. Sensors PID Commands Processing Power HAL Communication Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 72. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
  • 73. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Voice Recognition Hardware Firmware Software What forms a Robot?
  • 74. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Neural Networks Voice Recognition Hardware Firmware Software What forms a Robot?
  • 75. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Vision Processing Neural Networks Voice Recognition Hardware Firmware Software What forms a Robot?
  • 76. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Simultaneous localization and mapping Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Vision Processing Neural Networks Voice Recognition Hardware Firmware Software What forms a Robot?
  • 77. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot?
  • 78. Microcomputer Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot? }
  • 79. Microcomputer Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot? }}
  • 80. Microcomputer Microcontroller Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot? } } }
  • 81. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot? } } } }
  • 82. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot? } } } } } } } }
  • 83. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 What forms a Robot? } } } } } } } }
  • 84. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano What forms a Robot? } } } } } } } }
  • 85. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 What forms a Robot? } } } } } } } }
  • 86. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard What forms a Robot? } } } } } } } }
  • 87. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino What forms a Robot? } } } } } } } }
  • 88. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 What forms a Robot? } } } } } } } }
  • 89. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 What forms a Robot? Mikrotik } } } } } } } }
  • 90. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 Teensy What forms a Robot? Mikrotik } } } } } } } }
  • 91. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 Teensy Roboclaw What forms a Robot? Mikrotik } } } } } } } }
  • 92. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 Teensy Roboclaw Battery, Regulators What forms a Robot? Mikrotik } } } } } } } }
  • 93. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 Teensy Roboclaw Battery, Regulators Encoders, Range Finders What forms a Robot? Mikrotik } } } } } } } }
  • 94. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 Teensy Roboclaw Battery, Regulators Encoders, Range Finders Motors, Servo What forms a Robot? Mikrotik } } } } } } } }
  • 95. Olinuxino HC-05 Teensy Roboclaw Encoders, Range Finders Motors, Servo Mikrotik ASUS TinkerBoard Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Nvidia Jetson Nano ReSpeaker Core v2 Pixy 2, OpenMV Cam M7 Battery, Regulators MicrocomputerMicrocontrollerHardware What forms a Robot?
  • 96. Olinuxino HC-05 Teensy Roboclaw Encoders, Range Finders Motors, Servo Mikrotik ASUS TinkerBoard Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Nvidia Jetson Nano ReSpeaker Core v2 Pixy 2, OpenMV Cam M7 Battery, Regulators MicrocomputerMicrocontrollerHardware What forms a Robot?
  • 97. https://www.pjrc.com/store/teensy35.html https://www.pololu.com/product/3285 https://arduino-shop.cz/arduino/1005- arduino-bluetooth-modul-hc-05.html https://www.olimex.com/Products/OLinuXino/A20/ A20-OLinuXino-LIME2/open-source-hardware https://www.asus.com/cz/Single-Board- Computer/Tinker-Board/ https://www.seeedstudio.com/ReSpeaker- Core-v2-0.html https://developer.nvidia.com/embedded/ jetson-nano-developer-kit https://openmv.io/products/openmv-cam-m7 https://pixycam.com/pixy2/ What forms a Robot? Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 Olinuxino HC-05 Teensy Roboclaw Battery, Regulators Encoders, Range Finders Motors, Servo Mikrotik ASUS TinkerBoard MicrocomputerMicrocontrollerHardware https://mikrotik.com/product/RB941-2nD
  • 98. https://www.pjrc.com/store/teensy35.html https://www.pololu.com/product/3285 https://arduino-shop.cz/arduino/1005- arduino-bluetooth-modul-hc-05.html https://www.olimex.com/Products/OLinuXino/A20/ A20-OLinuXino-LIME2/open-source-hardware https://www.asus.com/cz/Single-Board- Computer/Tinker-Board/ https://www.seeedstudio.com/ReSpeaker- Core-v2-0.html https://developer.nvidia.com/embedded/ jetson-nano-developer-kit https://openmv.io/products/openmv-cam-m7 https://pixycam.com/pixy2/ What forms a Robot? Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 Olinuxino HC-05 Teensy Roboclaw Battery, Regulators Encoders, Range Finders Motors, Servo Mikrotik ASUS TinkerBoard MicrocomputerMicrocontrollerHardware https://mikrotik.com/product/RB941-2nD
  • 99. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What are the creations steps?MicrocomputerMicrocontrollerHardware
  • 100. 1. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What are the creations steps?MicrocomputerMicrocontrollerHardware
  • 101. 1. 2. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What are the creations steps?MicrocomputerMicrocontrollerHardware
  • 102. 1. 2. 3. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What are the creations steps?MicrocomputerMicrocontrollerHardware
  • 103. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition 1. 2. 3. What are the creations steps?MicrocomputerMicrocontrollerHardware
  • 104. How it looks like?
  • 105. How it looks like?
  • 106. but where is the pain?
  • 107. on every step!
  • 108. How it looks like?
  • 109. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition 1. 2. 3. What are the creations steps?MicrocomputerMicrocontrollerHardware
  • 110. What languages does a Robot speak? Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 111. What languages does a Robot speak? Python Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 112. What languages does a Robot speak? Tensor Flow Python Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 113. What languages does a Robot speak? Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 114. What languages does a Robot speak? bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 115. What languages does a Robot speak? AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 116. What languages does a Robot speak? C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 117. What languages does a Robot speak? Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 118. What languages does a Robot speak? Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 119. I’m a #Ruby guy!
  • 120. I’m a #Ruby guy!
  • 121. Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware What languages does a Robot speak?
  • 122. Pain Levels Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 123. Pain Levels Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
  • 124. Pain Levels Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition MicrocomputerMicrocontrollerHardware
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