Sawyer, The Artist
December 1, 2018
Overview
This project was the final first quarter Fall project for the Northwestern MSR program. In this project, my team and I worked together to program Sawyer, the Robot to detect and draw faces. Our team was awarded first place in Robotics competition. The project is summarized as follows: An image of the user’s face is obtained via webcam and the facial component is isolated for processing which allows us to create motion planning and solve for trajectories for the end-effector of a Sawyer robot (from Rethink Robotics) in order to draw the face. The result is a marker-drawn image of a face on a surface which only requires an initial calibration process which we created for Sawyer to automatically localize the task space and the end-effector. We use a custom, 3D printed marker holder provided by the Master of Science in Robotics program. My main role was developing the face detection algrorithm using OpenCV’s Haar Feature-based Cascade Classifiers as demonstrated here.
Videos of the project results can be found here:
View the project on github here.
Teammates
Chenge Yang, Huan Weng, Guo Ye, Veronica Medrano