1 of 22

W.I.N.S.T.O.N the Robot Dog

By Sam Sidebotham

Morgan Potter

Joshua Kisnorbo

2 of 22

W.I.N.S.T.O.N the Robot Dog

Walking Inverse-kinematics-based Navigation System Transmitted Over Networks

Sam

Morgan

Josh

{

{​

{​

3 of 22

How did this start?

I could make that…

How hard could this be?

4 of 22

First attempt – June 2022

5 of 22

A Better Leg

6 of 22

Current Design

Input (c)

15 cm (b)

15 cm (a)

 

 

 

 

Inverse kinematics

7 of 22

The Dog

  • Current state!
  • Hip joint
  • Hollow body design
  • Definitely NOT a bomb…

8 of 22

Computer Vision

9 of 22

Goal of The Vision Systems

  • Real-time mapping of the 3d environment
  • Accurate enough for autonomous navigation
  • Accurate enough to use a pathfinding algorithm in difficult terrain

10 of 22

What is stereo vision?

  • Obtaining depth from two cameras.

(CMU, n.d.)

11 of 22

Correspondence Problem

12 of 22

Harris Corner Detection

  • Sparse matching method
  • Not suitable as significant post processing is required

(OpenCV, n.d.)

13 of 22

Block Matching

14 of 22

Camera Housing Design

15 of 22

The Result

16 of 22

Transmitted Over Network (T.O.N.)

  • Connection between all three projects 🡪 Setup connections between components
  • Created an access point to Winston
  • Winsto-vision Video Stream
  • All done with Flask!

17 of 22

Primary Purpose

Connects the projects through�HTTP request & radio

18 of 22

Winsto-vision

  • The stream page hosts 3 separate streams
  • Left and right eyes
  • Processed image 

Done right!​

19 of 22

Where are we at?

20 of 22

Biomechanics is hard

21 of 22

Damaged equipment

Artists Rendition

x2

22 of 22

Thank You!

winston_the_robot_dog 

Joshua Kisnorbo

Morgan Potter

Sam Sidebotham