Achievements from 2022 - June 2023

This period was characterized by the acquisition of a new hardware platform (Dashgo B1 + xArm 5) which was assembled with the purpose of having a functional platform to compete on the Mexican Robotics Tournament 2023. The main focus during this period was pure development, paved with hardware and integration issues.

Electronics and Control

Designed and manufactured a PCB for handling the SCARA robot's motors and arm.

Mechanics

Integrated the Xarm5 robot arm with the Dashgo B1 mobile base, as well as developed a custom gripper and electronics protections.

Human Robot Interaction

Speech Recognition

Developed a ROS node for speech recognition using Azure's Speech Service.

Action Interpretation

Developed a ROS node for action interpretation using custom embeddings and a GPT-3 model.

Integration and Networks

ROS

Developed the main engines for the competition tasks, including General Purpose Service Robot, Receptionist and Carry my Luggage.

Computers

Integrated a Jetson AGX Xavier as the robot's main computer as well as a Jetson Nano for the mobile base.

Networking

Integrated the on-robot computers, Xarm and base within a wired network, as well as a wireless router for full internet access and for external computing resources.

Computer Vision

Pose Estimation

Developed a pose estimation ROS node, mainly used for detecting simple actions.

Object Detection

Switched to YOLOv5 for object detection and developed a method for fast and semi authomatic dataset generation.

Human Analysis

Used DeepFace for face recognition and analysis as well as object detection models for clothing description.