Social Robot User`s Manual
Contents
1. Returned Serial Values 100 2014090 7 Clear Serial Data 3 Select a command to send to the Arduino User input angles to send to the servos naming convention here represents servos from the robots perspective Button to send data from above Manually enter data string to be sent to the Arduino in form a b c d e where a through e are integers Send the string immediately preceding this button to the Arduino Shows the last command sent to the Arduino Shows returned signals when using command 100 Clears the serial port of any current data The final part of the GUI is the angle mapping This angle mapping defines how the arm motions of the robot relate to the arm motions of the user The GUI has two displays for visualizing the users arm motions and the corresponding robot arm motions These displays represent a top down and front on projection The user s arm vectors are dark red and are based on joints selected in the Tracking Settings menu The robot arms are represented in light blue vectors The mapping between the user and robot arms is represented visually by two arc sections These arcs represent the range of motion for each arm that corresponds to a full range of the robots arm motions The sliders to the right of the projected display can be used to adjust this mapping range User s Manual Page 3 15 3 0 Getting Started Top Mapping Display n u oO c 5 O co Cc e a oa gt a O2. Make sure the XBee wireless device is plugged into the computer Plug in the Kinect for Windows into a 120V outlet and the usb into the computer This will begin the initializing process Top Mapping Display Ca u ge o co o a o a Ca o O Front Mapping Display A Front Mapping Bounds KINECT for WINDOWS Initializing a No connection to the Arduino found Connect to robot Make sure the XBee wireless device is plugged into the computer The Kinect is now connected User s Manual Page 3 6 3 0 Getting Started Now you must install the Xbee drivers To do this you must go back to the C Exe Final folder you copied to your computer and click on Xbee Drivers link e di Senior Design_Working Folder Final Executable C ExeFinal gt B Y Search C Exe Final Organize v Open wr Favorites mee EE Desktop de Application Files de Dropbox amp readme E Recent Places amp setup Jj Downloads E SocialRobotics Share with v Print Burn New folder Date modified 5 28 2013 11 39 PM 5 28 2013 11 35 PM 5 28 2013 11 20 PM 5 28 2013 11 20 PM No connection to the Arduino found Make sure the XBee wireless device is plugged into the computer Type File folder Text Document Application ClickOnce Applica d XBee Drivers A Libraries L Documents 2 Music Pictures Videos Computer amp Local Disk C E Network
3. Xbee is indeed plugged in you must check the Com Port To do this go tho the options tab in the upper left corner ed Top Mapping Display Top Mapping Bounds F Front Mapping Bounds Record Piy Connect ts robot This will bring up the following tool set Kinect Skeletal Tracking Mode currently set to Sitting Switch position to Near mode Kinect Angle W Hide Smiley and circles Wireless Connection XBee Comport Select COM7 x Select the correct comport You can test the connection using the test connection button at the bottom If there is still no connection make sure the robot is turned on and the red power light is on Press connect to robot in the bottom of the GUI screen When the connection is made the button will switch to disconnect from robot and the green LED on the robot will be on Step away from the robot and begin use User s Manual Page 3 12 3 0 Getting Started 3 4 Advanced GUI Settings The GUI includes some advanced settings First we will get a more in depth look at the GUI itself Here is a diagram of the GUI interface with each number adding descriptions Top Mapping Display H Em 1 Top Mapping Bounds J Front Mapping Display Pi O Ii il ounds Front Mapping B I Record T e ME Comecttorctot 7 Options pull down Allows for setting Kinect and Wireless connection settings Tracking Settings Settings f
4. download OCIa NODOL ics eu Downloading file 1 of 1 L A And automatically begin the install process User s Manual Page 3 1 3 0 Getting Started 1 SocialRobotics Setup Installing Kinect Runtime v1 7 Once this is completed the following screen will be brought up Showing the End User License Agreement To continue you must agree to the license terms and conditions To do this check the box highlighted in red and hit the install button on the right 7 Kinect for Windows SDK Setup KINECT for Windows End User License Agreement Microsoft Kinect for Windows Software Development Kit SDK These license terms are an agreement between Microsoft Corporation or based on where you live one of its affiliates and you Please read them They apply to the software named above which includes the media on which you received it if any It also applies to any Microsoft updates gt supplements documentation and support services for this software unless other terms accompany those items If so those terms apply The software is licensed not sold By downloading installing accessing or using the software you accept all terms in this agreement If you do not accept them do not download install access or use the software You or you means the individual who downloads installs accesses or uses the software and if you represent a legal entity it also means that
5. Social Robot USER S MANUAL Kristine Dietrich Willy Douglas Laura Hendrickson Emily Wetmore May 27 2013 USER S MANUAL TABLE OF CONTENTS Page LU GENERALINE ORMATION un ee I 1 LE System Overview crm 1 1 1 2 Pomts of Contatti adi 1 1 E2 UN abro AAA rise eisen 1 1 2 0 3JSESTEM SUMMARY Ren 2 1 2 1 System Config uFdtloTi sauer 2 1 2 2 Punc on BOWS PP Phe tertiae Po vEReo b o E CYE edic aer dVa dap FERE o Eod Ne PPP eE 2 2 30 GETTING STARTED iode PE oie PE edo od e EE v dr diee IDEs 3 1 3 1 Downloading the Social Robot Program ccce eee eere eee eee eee eene teen esaet eese saos tees s sons te 3 1 3 2 About the Electrical Box oe RE DE Eine 3 11 2 9 Usm the GUN 3 12 35 4 Advanced GUI SENOS u a Eee 3 13 2 0 TROUBLESHOOTING cct ntt iet ae u ren 4 17 4 1 Common Problems sauna 4 17 4 2 Usine the Debug Mental 4 19 User s Manual Page ii 1 0 General Information 1 0 GENERAL INFORMATION User s Manual 1 0 1 1 1 2 1 2 1 2 0 System Summary GENERAL INFORMATION System Overview The purpose of this project was to create a Socially Assistive Robot that will aid children with cognitive disorders in learning the basic ability of reach This reaching milestone is a precursor to many other important milestones namely a back and forth conversation something with which many children with cognitive disorders struggle The team created a robot Kinect i
6. Update Values Based on Boundary Conditions and Range Send String Line to Arduino Through XBee User s Manual Page 2 2 3 0 Getting Started 3 0 GETTING STARTED User s Manual 3 0 Getting Started 3 0 GETTING STARTED Downloading installing setup use and trouble shooting of the Social Robot software and robot interface 3 1 Downloading the Social Robot Program This installation requires an internet connection Begin by copying the folder C Exe Final to your desktop Open this folder and click setup to begin the installation process Organize v E Open Share with v Burn New folder Fil 7 Name i Date modified Type Size BE Desktop e Application Files 5 28 201311 59 PM File folder de Dropbox _ readme 5 28 2013 11 35 PM Text Document 1KB Recent Places T setup 5 28 2013 11 20PM Application 466 KB Je Downloads CF SocialRobotics 5 28 2013 11 20 PM ClickOnce Applica 6 KB XBee Drivers 5 28 201311 22 PM Firefox HTML Doc 1KB Libraries Documents RU Music i Pictures E Videos ME Computer amp Local Disk C Cu Network The following window will be brought up asking if you wish to install Kinect Runtime v1 7 Chose Install highlighted in red L SocialRobotics Setup The following components will be installed on your machine Kinect Runtime v1 7 Do you wish to install these components If you choose Cancel setup will exit This will begin the
7. XBee Drivers Firefox HTML Document Date modified 5 28 2013 11 22 PM Size 415 bytes You have chosen to open 40003002 C exe which is a Binary File 63 5 MB from http ftpl digi com Would you like to save this file User s Manual 5 28 2013 11 22 PM Firefox HTML Doc Date created 5 28 2013 11 39 PM Top Mapping Display A Front Mapping Display A Top Mapping Bounds A Front Mapping Bounds Page 3 7 The installer will quide you through the steps required to install X CTU on your computer WARNING This computer program is protected by copyright law and international treaties Unauthorized duplication or distribution of this program or any portion of it may result in severe civil or criminal penalties and will be prosecuted to the maximum extent possible under the law License Agreement Please take a moment to read the license agreement now If you accept the terms below click I Agree then Next Otherwise click Cancel End User License Agreement for Digi X CTU Software Important Read Carefully By installing the software you are consenting to be bound by and are becoming a party to this end user license the Digi X CTU software which includes computer software sample Do Not Agree This will bring up the X CTU Setup Wizard Chose next Cancel lt Back Select Installation Folder The installer will install lt CTU to the following f
8. and warrant that you are authorized to enter into this agreement for that entity If you comply with these license terms you have the rights below 1 INSTALLATION AND USE RIGHTS I agree to the license terms and conditions Install Cancel x This will begin the Setup Process User s Manual Page 3 4 3 0 Getting Started KINECT for Windows Setup Progress Processing Kinect for Windows Developer Toolkit GE h h J O Cancel x T 1 Kinect for Windows Developer Toolki KINECT for Windows Setup Complete When the setup is complete you will see an Application Install Security Warning chose to install the program This is the Social Robotics Program Application Install Securi Publisher cannot be verified Are you sure you want to install this application Name SocialRobotics From Hover over the string below to see the full domain C Users Kristine Desktop C Exe Final Publisher Unknown Publisher Don t Insta While applications can be useful they can potentially harm your computer If you do not trust the source do not install this software More Information User s Manual Page 3 5 3 0 Getting Started Once your install is complete the GUI will be brought up MainWindow Top Mapping Display Ca amp c E KINECT for WINDOWS E Required 3 Tell me more 2 gt Ze No connection to the Arduino found Top Mapping Bounds
9. e Debug Menu In the GUI there is a Debug menu that can be useful if you are experiencing any problems Below is a picture of the menu and detailed description of how to use each functionality Send to Robot Command Slow Rotate To v Servo Angles Degrees Left Horzontal Servo qo Left Vertical Servo 30 Right Horzontal Servo 45 Right Vertical Servo 120 send Advanced Send string to Arduino 100 20 140 90 Send String Command Sent 100 20 140 90 6 Returned Serial Values 100 20140901 7 Clear Senal Data 3 1 Select a command to send to the Arduino a The range of motion selections can be useful for debugging robot movement issues i Default rotates all servos to the angles specified with 2 ii Slow Rotate To does the same as default but very slowly ii Return the command 100 will resend the input to the returned serial values text box iv Slow Range of Motion moves servos over their full range slowly v Fast Range of Motion moves servos over their full range quickly vi Neutral Arms Down returns servos to their neutral location 2 User input angles to send to the servos naming convention here represents servos from the robots perspective a In options 1 11 and 111 from 1 these values are specified as to what the desired servo rotation will be 3 Button to send data from above User s Manual Page 4 19 3 0 Getting Started a Submits command and input angles Results in a mo
10. entity and you represent and warrant that you are authorized to enter into this agreement for that entity If you comply with these license terms you have the rights below I agree to the license terms and conditions Install Y Cancel x Once you agree to the terms the SDK setup will begin 7 Kinect for Windows SDK Setup KINECT for Windows Setup Progress Processing Kin Once the setup is complete you must next download the Developer Tool Kit by clicking on the link User s Manual Page 3 2 3 0 Getting Started 7 Kinect for Windows SDK Setup KINECT for Windows Setup Complete ves you acce de sa ne evel per Ik ul Next Step Download the Developer Toolkit This will open a browser window and bring you to the following page Click the download button E8 Microsoft yo Download Center Software Categories Security Support Shop Hp Kinect for Windows Developer Toolkit v1 7 Share The Kinect for Windows Developer Toolkit contains updated and new source code samples Kinect Fusion Kinect Interactions Kinect Studio and other resources to simplify developing Kinect for Windows applications User s Manual Page 3 3 3 0 Getting Started This will bring up the following window Chose Save File then Run You have chosen to open KinectDeveloperToolkit v1 7 0 Setup exe which is a Binary File 379 MB from http download microsoft com Would you like to save this file Do you want to r
11. j Lable indicating front view of arms Slider for controlling upper bounds of user arm motion mapping Slider for controlling lower bounds of user arm motion mapping Visual display cue of upper range mapping Light blue Robots corresponding arm motion Dark red Users actual arm position User s Manual Page 3 16 3 0 Getting Started 4 0 TROUBLESHOOTING This section will help you if you run into any problems while using your social robot 4 1 Common Problems Connection Problems a Check that XBee wireless device is plugged in to your USB port b Make sure the robot is turned on red LED should be illuminated c Inthe Options menu make sure the correct COM port is selected i Ifthe XBee is plugged in after the program has been started the connection will only work if the XBee connects to COM4 To be safe connect the XBee before loading the program d Use Test Connection button in the Options menu to check the connection status i Ifyou are connected the green LED on your robot should be illuminated and it should say Connected on the GUI Kinect Issues a Make sure your Kinect for Windows is plugged in to a wall outlet When you do this a power light on the cable should be illuminated b Make sure your Kinect for Windows is plugged in to your USB port When you do this a green light is visible on the front of the Kinect c You must be in the acceptable range to be tracked by the Kinec
12. nterface that sees the user and mimics their motions The Kinect is an image based movement sensor that sees four unique arm movements of the user It sends this information through a microprocessor to the robot in order for the robot to mimic the user s actions This document is intended for Mr Melonis and the Assistive Technology Partners It is also intended for the members of Engineering Design Class the instructors and the faculty consultants for this project Points of Contact Information For additional information the design team can be contacted through Project Leader Kristine Dietrich dietrich kristine gmail com User s Manual Page 1 1 2 0 System Summary 2 0 SYSTEM SUMMARY User s Manual Page 1 1 2 0 System Summary 2 0 SYSTEM SUMMARY 2 1 System Configuration Kinect Wireless signal output NIA l l Wireless signal Friendly Non zw j a receiver threatening appearance Microprocessor to manage mechanical Subject motion Motors or other devices for mechanical motion The system consists of a robot that interfaces with a user though a PC with a Microsoft Kinect User s Manual Page 2 1 2 0 System Summary 2 2 Function Flows The below diagram flow of the loading connection test and running of the Social Robotics program Kinect Display Kinea For Detected No Windows Required Yes Arduino Display Link to robot XBee not found Connected No Yes
13. older To install in this folder click Next To install to a different folder enter it below or click Browse Folder c Program Files DigitCTU Browse Disk Cost Install X CTU for yourself or for anyone who uses this computer Everyone C Just me The confim installation window will open Choose Next User s Manual 3 0 Getting Started Page 3 8 3 0 Getting Started Confirm Installation The installer is ready to install lt CTU on your computer Click Next to start the installation Installing X CTU CTU is being installed Please wait FI Would you like to check Digi s website for firmware updates Y Recommended L9 9 Cancel Bacl Next The system will then check for updates to the drivers Once this is complete the install will finish User s Manual Page 3 9 3 0 Getting Started Installation Complete CTU has been successfully installed Click Close to exit User s Manual Page 3 10 3 0 Getting Started 3 2 About the Electrical Box This picture shows one side of the electrical box underneath your Social Robot There are many features that are necessary for using your robot The most important part is the switch in the top middle of the box This switch has two settings Charge Off and On When the robot is not in use make sure the switch is in the far left or Cha
14. or what joints to track and the tracking smoothing parameters Debug pull down Allows users to see and input additional behind the scenes data Main window display Shows Kinect camera view Kinect tracked skeleton Shows the joints tracked by the Kinect in an overlay Buttons for recording and playing movement sequences Button for connecting disconnecting from the Arduino Visual display of top down view of users arm motion and the robots corresponding response Light blue vectors represent robots arm motions Dark red vectors represent users arm motions Sliders for setting the horizontal range of user motion that is mapped to the robots full range Visual display of front view of users arm motion and the robots corresponding response Visual representation of mapping range shown by arcs Sliders for setting the vertical range of user motion that is mapped to the robots full range SOOO ND Ur ds p Dos Here shows a more indepth view of the Options menu which can be found in the upper left hand corner of the GUI User s Manual Page 3 13 3 0 Getting Started Kinect Skeletal Tracking Mode currently set to Sitting Switch position to Standing Ei Near mode Kinect Angle Hide Smiley and circled 4 Wireless Connection XBee Comport Select COM4 Ei Connecte Set the Kinect tracking mode to sitting or standing Set Kinect tracking distance setting to default or near mode Adjust the vertical Kinect Angle Se
15. rge Off position This position also allows for charging of the battery In order to turn the robot on the switch must be pushed to the far right or On position The red LED located next to the switch is the power indicator When the switch is turned On the LED should be glowing and it should turn off when the switch is in the Charge Off position The wires coming from the bottom left of side of the electrical box are used for charging of the battery Before connecting those wires to the battery charger make sure the switch is in the Charge Off position far left The battery charger manual accompanies this manual The other connection that can be made from outside the electrical box is for programming of the microprocessor of the robot Unless you are an experienced programmer do not use this connection The green LED located next to the microprocessor connection shows whether or not the PC and microprocessor are communicating If the green light is illuminated they are connected If the light is not illuminated the PC is not recognizing the robot and some troubleshooting must be done User s Manual Page 3 11 3 0 Getting Started 3 3 Using the GUI Now that everything has been downloaded and installed Plug in the Xbee Now we will begin using the GUI The following error message may appear No connection to the Arduino found Make sure the XBee wireless device is plugged into the computer If the
16. rial port of any current data a Used to reset the serial connection in case you are receiving faulty or unusual data User s Manual Page 4 20
17. t There are two field of view modes available on the Options menu of the GUI default and near For each of these there are different acceptable distances i Default 2 6 13 1 ii Near 1 3 9 8 Select the appropriate mode for your needs User s Manual Page 4 17 3 0 Getting Started Program Starting Issues a Once you have installed the program to a certain place on your computer it cannot be moved i Ifit has been moved first uninstall and then reinstall To uninstall open the Start menu on your computer Click Control Panel Click Uninstall A Program Sort to find SocialRoboticsBear and select it Click Uninstall Change at the top of the window Click Ok to remove the application Once uninstall is done you are free to reinstall the program b Make sure that you still have the Microsoft Kinect SDK installed Movement Issues a Ensure that your battery is charged If it is not charged the red light on your robot will not be illuminated b Make sure all connections have been made Check the Connection Problems Troubleshooting section c With device in Off mode gently move arms in all directions to ensure that mechanical system 1s intact d If problems persist some internal stuffing may be blocking movement To resolve this remove outer covering and move the stuffing away from all moving parts User s Manual Page 4 18 3 0 Getting Started 4 2 Using th
18. t the visibility of the tracked smiley face and hand circles Select the comport for the XBee wireless connection to the Arduino Button for testing the wireless connection status Status of wireless connection The next tab over is the Tracking Settings which is detailed below In this section the user has User s Manual the ability to adjust the joint mapping of the Kinect as well as a variety of other settings Track from shoulders to hands Smoothing Parameters Smoothing Correction Jitter Radius Max Deviation Radius Submit Smoothing Paramet 7 Select which joints the program should track as endpoints of the vectors to use for calculations Set the smoothing parameters for how the Kinect smooths the tracked joints motions Smoothing value Sliding to the right corresponds to more smoothing Increased smoothing leads to increased latency Correction value Higher values correct faster but is less smooth Jitter Radius Determines how aggressively to remove jitter from the raw data Max Deviation Radius Determines how aggressively to remove jitter from the Page 3 14 3 0 Getting Started The next tab over is the Debug menu Send to Robot Command Slow Rotate To E v Servo Angles Degrees Left Horzontal Servo 90 Left Vertical Servo 30 Right Horzontal Servo 45 Right Vertical Servo 120 Send B Advanced Send string to Arduino 100 20 140 90 Send String Command Sent ee E
19. un this file Name oads KinectDeveloperToolkit v1 7 0 Setup 1 exe Publisher Microsoft Corporation Type Application From C Users Kristine Downloads KinectDeveloperTo V Always ask before opening this file While files from the Intemet can be useful this file type can e potentially harm your computer Only run software from publishers you trust What s the risk This will bring up the Kinect for Windows Developer Toolkit Setup End User License Agreement You must choose to accept and then install EA TE J for Windows End User License Agreement Microsoft Kinect for Windows Developer Toolkit These license terms are an agreement between Microsoft Corporation or based on where you live one of its affiliates and you Please read them They apply to the software named above which includes the media on which you received it if any It also applies to any Microsoft updates supplements documentation and support services for this software unless other terms accompany those items If so those terms apply The software is licensed not sold By downloading installing accessing or using the software you accept all terms in this agreement If you do not accept them do not download install access or use the software You or you means the individual who downloads installs accesses or uses the software and if you represent a legal entity it also means that entity and you represent
20. vement of the servos 4 Manually enter data string to be sent to the Arduino in form a b c d e where a through e are integers a More advanced but similar action as above First integer represents the command and other four are servo angles The following are the appropriate first integer values and their command description Rotates servos to angles defined by degree number from next 4 integers order Left horizontal servo Left vertical servo Right horizontal servo Right vertical servo l Robot transitions to its neutral arms down position Same as command 0 but where it rotates the servos very slowly to their final value defined by following 4 integers Same as command 0 except the Arduino resends the command it received back over the serial port connection for the handshake test Quickly rotates the servos over their range of motion l 20 00 5 Send the string immediately preceding this button to the Arduino a Sends the values input from 4 6 Shows the last command sent to the Arduino a Displays the last sequence which was sent to the Arduino May be either from when the program was running autonomously or a sequence sent in by the user 7 Shows returned signals when using command 100 a The returned value from the Arduino imitating the original command sent Tells you that the connection is completely working if all of the values are the same Clears the se
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