The project’s goal is to build a framework that allows adding object tracking capabilities to an existing robot. The project focused on adding those capabilities specifically to the Hexapod robot.
The Hexapod robot was built in CRML lab as part of a project by previous students.
In addition, the framework will allow future projects to acquire object tracking capabilities more easily for the purpose of further developments in CRML lab.
The work on the project was divided into two main parts in which the progress was made in parallel. The first part focused on the algorithmic side of the robot. This part included examination of object tracking field and existing algorithms, implementation of the chosen object tracking algorithms and performing empirical experiments to decide the suitable algorithm based on performance on the Hexapod robot.
The second part of the project focused on the physical side of the robot. This part included adding a second controller to the Hexapod robot and establishing stable communication between the two controllers.
Moreover, hardware changes were necessary. These changes included improving the condition of the existing hardware and repairing defected hardware components.
To finalize, we made sure that the framework we built is indeed agnostic to the type of robot, easy to use and easy to be modified for further development.