Well, unfortunately, we did not reach our baseline by Wednesday night like we expected. Furthermore, having spent Thursday-Sunday at the US Open for Robocup, we haven't been able to get much done. Tonight, however, we began looking into interpreting the joint orientations with OpenNI using a 3x3 rotation matrix. The left column of the rotation matrix represents the joint's position with respect to the x-axis, the middle column represents the orientation with respect to the y-axis, and the right column represents the orientation with respect to the z-axis. We plan on utilizing this orientation data to control the head movements of the Nao, to improve our control over the arms, and to allow us to control the robot's walking direction.
Furthermore, we plan to stream the video from the Nao's cameras wirelessly. We want to enhance the "virtual reality" aspects of our project, and being able to see what the robot sees would help accomplish this.
Bad news: the BeagleBoard still isn't playing nice with the Kinect. We think there may be a problem with the ARM compiled version, so we're going to attempt to alter the compilation of the x86-Release version, as was done in the past, before the ARM version was available.
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