LOKI
Loki is a hobby robot named after the Norse god of Mischief. It was developed by David Shinsel, a software engineer. Its aluminium body stands 4 inches tall and weighs 18 kg, with a display screen installed in its chest.
To control both the head and the arms, Loki is equipped with Dynamixel AX12 servos, and its shouler joints are driven by accurately controlled motors. It is equipped with 2 Logitech Notebook Pro webcams, while its blinking eyes are emphasized with 2 blue LED lights.
Loki operates in 2 modes: the command mode, where its responses can be controlled; and the conversation mode, where you’re unable to know what he will say or do. It uses SURF for object identification, motion detection, color tracking, laser spot tracking and OpenCV for face tracking.
Loki is equipped with a PIC processor, programmed using the CCS C compiler, with PC software written using Visual C++. The processor is set up on a Mark III controller board, where the sensor data can be transferred via a USB to a Serial converter.
The processor has 12C expansion chips for slots such as 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.
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