Control roboruku using leap motion

Last year, I assembled a roboruku , wrote a “driver” for linux for her, taught me how to hold different objects. And somehow forgot about it. But yesterday I was given a leap motion and I came up with a new idea - to learn how to control a roboruk by means of movements of my hands.

What you need to manage

Roboruki has:

• base - can rotate clockwise and counterclockwise;
• shoulder - move up and down;
• elbow - move up and down;
• wrist - move up and down;
• claws - open and close.

For all this, the "driver" provides a simple api:

from roboarm import Arm arm = Arm() arm.base.rotate_clock(3) arm.elbow.up(1) arm.grips.open(2) 

First implementation

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Leap motion can detect hands , fingers and their direction.
Therefore, I decided to tie the movement to the fingers:

Part roboruki	My hand	Number of fingers	Axis
Base	Right	4 or 5	X
Shoulder	Left	4 or 5	Y
Cubit	Right	2 or 3	Y
Wrist	Any	one	Y
Claws	Left	2 or 3	X

Nothing happened. Leap motion correctly determined when there are 1-2 fingers on a hand, but when it is greater, a random value from 1 to 5.

Second implementation

Leap motion gives the coordinates of the hands within certain limits, I have about -200 to 200 on X and from 0 to 400 on Y. I divided this area into ten equal parts and attached actions to them:

Clockwise base	Shoulder up	Elbow up	Wrist up	Open claws
Base counterclockwise	Shoulder down	Elbow down	Wrist down	Close claws

This implementation was working =)

What happened

Video with the result, where roboruka trying to raise the box:



Video, where the movement of the hands can be seen better:

Links

Roboruk owi robotic arm.
Leap motion.
"Driver".
Source code implementation.