icub electronics. 1.icub upgrades 2.the blue icub 3.what next…
TRANSCRIPT
iCub Electronics
iCub Electronics
1. iCub upgrades 2. The Blue iCub3. What next…
iCub upgrades
iCub wireless (power supply and GEth) iCub Eyes 2.0 iCub Skin new features
iCub wireless
Battery Pack (Battery, BMS, DC/DC 48V-12V, Soft Start, Fuel gauge, Bluetooth and CAN interface, …)
Carrier board Type 2 with mini PCIExpress for Wifi 802.11ac (1.3 Gbps bandwidth), 1 100Mb ETH, 1 GigaBit ETH, USBs, UART, VGA, PCI.
COM-Express Type 2 Compact (ATOM dualcore 1.86GHz)
Note: CFW002 for Cameras and CAN buses
BatteryBackPack
BatteryBackPack
iCub wireless
Battery Pack (Battery, BMS, DC/DC 48V-12V, Soft Start, Fuel gauge, Bluetooth and CAN interface, …)
Carrier board Type 2 with mini PCIExpress for Wifi 802.11ac (1.3 Gbps bandwidth), 1 100Mb ETH, 1 GigaBit ETH, USBs, UART, VGA, PCI.
COM-Express Type 2 Compact (ATOM dualcore 1.86GHz)
Note: CFW002 for Cameras and CAN buses
iCub Head – PC104+ solution
PCI
Wifi 802.11ac
Carrier board
COM-Express Compact
HEATSINK
HeatSpreader
FireWire Connector
CFW_002
5 15 8 11 102 2 2
55mm
6.5
iCub 1,2 Upgrade
CFW-002
PCI
139 4 139 4
CARRIER BOARD
Type 2Type 2
PCI (
bott
om)
Mini PCIe
12V
INU
SBH
D MI
GbE
TH
Wifi 802.11ac
Antenna
iCub 1,2 Upgrade
CFW-002
PCI
139 4 139 4
Wifi 802.11ac
Antenna
CARRIER BOARD
Type 2Type 2
PCI (
bott
om)
Mini PCIe
12V
INU
SBH
D MI
GbE
TH
iCub 1,2 Upgrade
CFW-002
PCI
139 4 139 4
Wifi 802.11ac
Antenna
CARRIER BOARD
Type 2Type 2
PCI (
bott
om)
Mini PCIe
12V
INU
SB…
GbE
TH
iCub Head – COM-Express + Wifi 802.11ac
COM-Express Compact
Type 2Type 2
CFW-002
PCI
139 4 139 4
Wifi 802.11ac
Antenna
CARRIER BOARD
Type 2Type 2
PCI (
bott
om)
Mini PCIe
12V
INU
SB…
GbE
TH
iCub Head – COM-Express + Wifi 802.11ac
COM-Express Compact
Type 2Type 2
HeatSpreader
CFW-002
PCI
139 4 139 4
Wifi 802.11ac
Antenna
CARRIER BOARD
Type 2Type 2
PCI (
bott
om)
Mini PCIe
12V
INU
SB…
GbE
TH
iCub Head – COM-Express + Wifi 802.11ac
COM-Express Compact
Type 2Type 2
HeatSpreader
iCub HEAD
iCub Eyes 2.0E-CAM
+HD-CAM Zynq
Board
COMExpress Compact Type
2 or 6
ZynqBoardE-CAM
+HD-CAM
GigE Carrier Board(Switch +WLAN)
GigE
PCIE
Cameras Board
commercialCameras Board
CAM1CAM2
CAM1CAM2
GigE
iCub Eyes 2.0Video processing
(tentative)
Image Capture• Frame Capture Module
(MIPI interface)• Frame Buffering• Cropping/Scaling• Color enhancements• CMOS sensor settings
Lens Calibration• Lens calibration using
Intrinsic parameters (offline)
Stereo Rectification• Extrinsic Parameters
estimated online by means of initial offline calibration + camera position sensors
• Hj
Stereo Correspondence• Semi Global Block
Matching (SGBM) is a possible algorithm to be used
Post Processing• HDMI output for
debugging purpouse• Video streamings
(stereo output, camera output)
• Video Compression?
Cameras Input
Encoders Input
The Blue iCub
• What’s inside the Blue iCub
iCub – Current Ethernet based Solutions
20-40kHz current loop
1kHz Ctrl Loops 2FOC
2FOCEMS
100Mb Eth
Sensors(force/torque, torque, skin)
CAN1
CAN2
SPI
MO
TOR
Reflective encoder
Harmonic Drive
Joint Absolute PositionSensor
Torque sensor
CAN
CAN
1kHz ctrl loop
1kHz Ctrl Loops MC4
MC4EMS
Sensors(force/torque, torque, skin)
CAN1
CAN2
MO
TOR
Joint Absolute PositionSensor
iCub – Current Ethernet based Solutions
iCub – Current Ethernet based Solutions
1kHz Ctrl Loops
MC4-PLUS
100Mb Eth
Sensors(force/torque, torque, skin)
CAN1
MO
TOR
Incremental encoder Gearbox
Joint Absolute PositionSensor
CAN
iCub – Current Ethernet Solution 1 The EMS is a gateway between CAN and Motor Control boards.
MC4 does not have current loop, and there are 12 axis in a CAN bus line.
iCub – Current Ethernet Solutions 2 The EMS is a gateway between CAN and Motor Control boards.
MC4-PLUS has a direct connection with 4 DC motors.