Ensemble Robot

ABSTRACT

I developed the Mobile Ensemble Robot.The mobile ensemble robots consist of three client robots which have speakers and a server. They all must be set at a certain time to guarantee synchronization. A server streams audio files to the three client robots and each robot plays an audio file at the same time, making an ensemble. They can also dance simultaneously.

ENSEMBLE ROBOT VIDEO DEMO

DEVELOPMENT ENVIRONMENT

Hardware

Server

x86 Intel Pentium 4 Processor
LAN Card
AP

Client

Xscale Board (PXA255)
WLAN Card
Speaker (USB)
Micro Robot (Line tracer) with Stepping Motor
Software

Server

Linux (Kernel 2.6.9)
TMOSM/Linux v2.1
GTK 2.0 for x11

Client

Linux (kernel 2.4.19)
TMOSM/Linux v2.1

SYSTEM ARCHITECTURE

Ensemble Robot Appearance
Ensemble Robot System Architecture 1/5
Ensemble Robot System Architecture 2/5
Ensemble Robot System Architecture 3/5
Ensemble Robot System Architecture 4/5
Ensemble Robot System Architecture 5/5

TIME SYNCHRONIZATION

Time Synchronization using GPS

GRAPHIC USER INTERFACE FOR ROBOTS

GUI for Robots - ver 1.0
GUI for Robots - ver 2.0
Map Abstract

PACKET DATA FLOW

Packet Flow 1/2
Packet Flow 2/2