2018-05-06-getting-to-know-jenny

jennyupload

Main components on Jenny

• 3 Personal computers

• 7 DOF Manipulator

• 4 DOF Torso + sensor head which can flip

• 1 DOF Tray (Touch screen)

• 4 omnidirectional wheels

• 4 motors to control linear motion and 4 for angular

• Two cameras

• 3 Laser scanners to cover 360°

• Gripper with tactile sensors

• Battery

• 2 Emergency stop buttons on-board

• 8 microphones for sound localization

What is where?

a. Torso and sensor head

b. Omni-directional wheel platform

• Front omnidirectional wheels seen

• Laser scanner in the front

c. Emergency stop buttons on-board

d. 2 Rear laser scanners and 2 microphones

e. 3 PCs on-board

• PC1 has drivers for motors and sensors, used for bringup and manipulator launch

• PC2 for vision and audio processing

• PC3 for display on tray

f. Key switch to start

g. 7 DOF gripper with tactile sensors

h. A microphone for sound localization