Let's Make Robots!

ICU . I See You

sees people








































* --------------------- June 17, 2011 ---------------------------- *

ICU has been sleeping for a while but was awaken suddenly because I was invited to an exhibition at Flausina, a new born association in Lisbon.

ICU v1.01

Complexity is always a welcome thing around here and the bot was presented with two more servo motors and all the software has been re-written. And because I needed to simulate its movements I coded an application in Processing in a way that I could test all the non-dangerous angles. Inverse kinematics is way to advanced for my taste and I think I can call this a “forward kinematics simulator”. This simulator gives also the possibility to generate individual sine waves for each motor, minimum and maximum range of motion, an interpolator for smoothness and frequency for speed.

ICU v1.01

Unfortunately I don’t have any decent video of photos of the Flausina exhibition, you can see on the 3rd video recorded in the office with the processing application.

TODO list:

- capability to save presets
- timeline with keyframes, play and stop buttons
- upgrade this servos to more powerful and digital servos
- upgrade all the structure to enhance weight distribution
- create a mask in silicon/rubber and give this bot a crazy new look

Source code can be downloaded here.

All for now.. Roger, over and out.

ICU v1.01

Photo at Flausina.


* --------------------- July 21, 2010 ---------------------------- *

ICU is a sub-project of the SWARS (see what a robot sees) project.

This time I not just wanted to see what a robot sees, but I also wanted to give the robot the ability to understand that there is a person in the room, and stare at the person.

To detect faces I used the OPENCV library for Processing, wich turns out to be very fun to work with and is very sensitive to human faces.. and sometimes it detect faces where there aren’t any.. maybe it is a ghost face detector algorythm!!

I didn’t have time to work with the four motors, I am only working with the two servo motors on the top. Next step will be to apply inverse kinematics and have a better level of interactivity.

Unfortunately I had to pick the computer that was being used in this installation, I will need it in the next weeks, but this bot will be available to the public very soon I promise!!

This is the code I am using if someone wants to look at it, you will need to have the MegaServo library installed for the Arduino sketch, and the OPENCV lib for the Processing sketch.


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I was watching the second video. There is a computer screen projected onto the wall.

What if you projected a face onto the wall with the eyes turning to look at the veiwers?

Having or not having a screen showing what the bot sees is giving me a huge debate. We, as living creatures don't use screens showing what we see or what we are processing at the moment, and I would like this bot to be seen as a living creature, so I am taking into big consideration not having the screen.. 

Eyes looking and following viewers is a classic instalation of Golan Levin, I am a great admirer of his work. Check the following videos for your pleasure  :)

"Opto-Isolator": http://vimeo.com/3796361

"Double-taker": http://vimeo.com/3793505 


This stuff is amazing. Good job. I would love to try it sometime. Incidently I just started Processing, here is my first sketch


Processing is a great tool for non-programmers! I totally love it!

Check the new ICU code if you want  ;) 

you could wear a shirt with a face on the back.

good solution calculon

Could you make it detect an arse instead of a face? (So it could follow you)?

Very emotive.  I see one of your other bots, what is the projection on the wall? The processing code? 
Heh, I was just about to ask what the antennas are until I saw the back picture... nice touch to leave the tie tabs on, gives it a insect like feel.  Design A+ .  Very sexy..

I have been working with OpenCV for a while too - however I have been using the java interface Samuel Audet has wrote @ (http://code.google.com/p/javacv/)  One nice thing is that he has exposed nearly all of the functions of OpenCV.

it's hard to believe that I took almost one year to answer your comment!! I Apologize for this, how could I miss it!!