Loki

Loki

“Loki” is named after the Norse god of Mischief.  Since with Robotics, “anything that can go wrong, will go wrong… and usually break something important”, Loki seemed like an appropriate name.  Loki is just under 80lbs, and 4 feet tall.

Loki builds upon the software of Seeker and Mr. Roboto, including remote control and diagnostics over WiFi, but adds more capable vision processing, speech recognition, indoor pathfinding (Using A*), basic Artificial Intelligence, and general refinement of the architecture.

Loki Design

The “body” of Loki is built completely from scratch, using mostly aluminum.  The unique design allows a laptop computer to double as the robot brains, and also as a display screen in Loki’s “chest”.

The Cameras are two Logitech Notebook Pro webcams, to allow me to experiment with stereo vision. (I have basic stereo vision working with OpenCV, but not happy with the depth perception yet.)

The laptop software is programmed in C++ and C#.  The PC gets sensor data and controls power and lights via a processor board connected through USB.  Most of my robots use a PIC processor (Mark III board), which is programmed using the CCS “C” compiler, but in early 2013 I replaced the PIC on Loki with an Arduino..The I/O is expanded with several I2C chips; one in the head, and one in each arm.  Sensor inputs include 2 PIR motion detectors, 10 IR range detectors, 2 Ultrasonic rangers, 4 bumpers, an electronic compass, and motor speed and direction monitors for each wheel.  Head motion and arms are handled by Dynamixel servos.  The shoulder joints are custom chain-drive driven by precisely controlled motors, using a Kerr motor controller.

Click on a link below for hardware design info, or the source code.  See the Seeker documentation for an overview of the source code to get the “big picture”.  Also, the source code .zip has latest hardware schematic info, etc:

Electronics

Software

Mechanical

19 Responses to Loki

  1. Darrell says:

    Awesome work and website! I hope I have time to build a Loki one day!

  2. MAURICE JACKSON says:

    HOW MUCH FOR LOKI??

  3. I really like your Robots – As well as fun watching them and giving commands – you have them doing things, that is to say, they’re not just web cams on wheels. Your application of the notebook for a brain is inspiring and I’m doing the same with our robot using a 10 inch screen netbook. Special thanks for sharing your knowledge and passion. Your Robots are incredible and a delight to see in action.

    Cheers
    Hazbot

  4. Mel Addison says:

    Hey Dave,

    I just got my Qbo robot in. Since you and I cross paths all the time, I expect that may be your next step. He is programmed in ROS which you are getting into, I understand.

    Mel (MovieMaker)

  5. Kevin says:

    Hello Mr. Dave
    I am a vb,asp.net c#,coldfusion and java programmer. I wanted to get into programmer robots like the ones you have created. I hope you can afford some time an point me in the right direction. I thank you for your time and amazing contribution to robotics.

    • dshinsel says:

      I’ll try, but my time is pretty scarce :-)
      The good news is all the code is C# or C++, and pretty well documented, so hopefully you wont have too much trouble. My main advice; start small. Build an easier robot and work your way up.

  6. adi purnama says:

    thank you for sharing. you are good people. I hope one day can become like you. sorry for bad English.

  7. Deven says:

    Great job on Loki! He’s like a robot you would see in movies. How much did it cost for you to make him?

  8. Laura Lemmons says:

    I was thinking, could you make Loki a twitter? I guarantee you he’ll have LOTS of followers!

  9. alfred says:

    hello!
    Good job, very compliments to you!
    I’ve a question for you: can I have the body size of your robot?
    I want to realize a robot like yours.
    see you,
    Alfredo

  10. Rick says:

    Dave,

    Does Loki rely on the laser? Thats the only part I don’t think I’m going to be able to afford anytime soon and didn’t know if it can be easily disabled in the code.

    Thanks,
    Rick

    • dshinsel says:

      No, the laser range finder is not needed. I installed it before the Kinect was available. Kinect is great for doing object detection and obstacle avoidance.

  11. Pingback: Intel Software Engineers Enter Robot Cage Match

  12. Mohamed says:

    Hi Dave could you please send me instructions on how to make the hand at Mohamedrahimtola@gmail.com

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