- Powered by NVIDIA Jetson Nano and based on the Robot Operating System (ROS)
- Upgraded inverse kinematics algorithm for enhanced performance
- Capable of deep learning and model training
- Two versions of the JexHexa Standard Kit are available; the Standard Kit is equipped with a monocular HD camera, while the Advanced Kit is loaded with a Lidar and depth camera
- Note: mapping and navigation functions are only applicable to the JexHexa Advanced Kit
The Hiwonder Jethexa ROS Hexapod Robot Kit w/ Jetson Nano & Monocular HD Camera (Standard Kit)has adopted a novel inverse kinematics algorithm, supporting both tripod and ripple gaits, and with highly configurable body posture, height and speed, it will bring users an ultimate experience.
Jethexa not only serves as an advanced platform for users to learn and verify hexapod movement, but also provides solutions for ROS development. To help users embark on a new journey of ROS hexapod robotic world, ample ROS and robot learning materials and tutorials are provided.
1. Jetson Nano Control System
NVIDIA Jetson Nano is able to run mainstream deep learning frameworks, such as TensorFlow, PyTorch, Caffe/ Caffe2, Keras, MXNet, and provides powerful computing power for massive AI projects. Powered by Jetson Nano, Jethexa can achieve image recognition, object detection and positioning, pose estimation, semantics segmentation, and other almighty functions.
2. Monocular Camera (with 2DOF Pan tilt)
The monocular camera can rotate up, down, right and left, as well as realize color tracking, autonomous driving and so on.
3. 3D Depth Camera
The depth camera can process depth map data, and realize 3D vision mapping navigation.
4. ROS Highlights
1) 2D Lidar Mapping, Navigation and Obstacle Avoidance:
Jethexa is loaded with high performance EAI G4 Lidar that supports mapping with diverse algorithms including Cartographer, Hector, Karto and Gmapping, path planning, fixed point navigation as well as obstacle avoidance in navigation.
2) RTAB VSLAM 3D Vision Mapping and Navigation:
Supporting 3D color mapping in two ways, pure RTAB vision and fusion of vision and Lidar, Jethexa is able to navigate and avoid obstacles in 3D maps and execute global relocation.
3) Multi point Navigation and Obstacle Avoidance:
Lidar can detect the surroundings in real time, and let Jethexa avoid the obstacles during multi point navigation.
4) Depth Image Data, Point Cloud Image:
Through the corresponding API, Jethexa can obtain depth image, color image and point cloud image of the camera.
5) KCF Target Tracking:
Based on KCF filtering algorithm, the robot can track the selected target.
6) Depth Camera Obstacle Recognition:
With the help of depth camera, it can detect the obstacle ahead and pass through the obstacle.
7) Custom Path Prowling:
Users can customize the path and order the robot to prowl along the designed path.
8) Lidar Tracking:
By scanning the front moving object, Lidar makes the robot capable of target tracking.
9) Lidar Guarding:
Lidar accounts for the role in guarding the surroundings and ringing the alarm when detecting an intruder.
10) Color Recognition and Tracking:
Skilled in color recognition and tracking, the robot can be set to execute different actions according to the colors.
11) Group Control:
A group of Jethexa can be controlled by only one wireless handle to perform actions uniformly and simultaneously.
12) Intelligent Formation:
A batch of robots can be controlled to patrol in different formations.
13) Canyon Crossing:
When Lidar scans the canyon ahead, the robot will adjust its posture and direction to pass through it.
14) Auto Line Following:
The robot has the ability to recognize the line in the color designated by the user and prowl following the line.
15) Tag Recognition and Tracking:
Jethexa is an expert in recognizing and positioning a few AR Tags at the same time.
16) Posture Detection:
The built in IMU sensor can detect the body posture in real time.
5. Upgraded Inverse Kinematics Algorithm (Tripod Gait/Ripple Gait):
One click Gait Switching:
Jethexa supports switching between tripod gait and ripple gait at will.
1) "Moonwalk" in Fixed Speed and Height:
Through inverse kinematics algorithm, Jethexa can maintain stability during SLAM mapping, and moonwalk in a constant speed.
2) Pitch Angle and Roll Angle Adjustment:
Highly configurable body posture, center of gravity, pitch angle and roll angle enables the hexapod robot to overcome all types of complicated terrains.
3) Direction, Speed, Height and Stride Adjustment:
Jethexa can make turns and change lanes while moving, and support stepless adjustment in linear velocity, angular velocity, stance, height and stride.
4) Body Self balancing:
The built in IMU sensor is in charge of detecting the body posture in real time so as to arrange for the robot to adjust its joints to balance the body.
6. Deep Learning and Model Training for AI Creativity
Adopting GoogLeNet, Yolo, mtcnn and other neural networks, Jethexa masters deep learning to train models. Through loading various models, it can recognize targets quickly so as to implement complex AI projects, including waste sorting, mask identification, emotion recognition, etc.
1) Mask Identification:
With strong computing power, Jethexas AI function can be expanded through deep learning.
2) Waste Sorting:
Quick to recognize different waste cards, and place them in the corresponding area in terms of the category.
3) Emotion Recognition:
Jethexa is able to recognize facial features accurately to catch every nuance of expression.
6. MediaPipe Development, Upgraded AI Interaction
Based on MediaPipe framework, Jethexa can carry out human body tracking, hand detection, posture detection, overall detection, face detection, 3D detection and more.
1) Fingertip Trajectory Control
2) Human Posture Control
3) Gesture Recognition
4) 3D Face Detection
7. Gazebo Simulation
Jethexa employs ROS framework and supports Gazebo simulation. Gazebo brings a fresh approach for users to control Jethexa and verify the algorithm in a simulated environment, which reduces experimental requirements and improves efficiency.
1) Body Control Simulation:
Verify the kinematics algorithm in simulation so as to avoid the damage to the robot due to the algorithm error.
2) Visual Data:
Visual data is provided for the observation of the robot end and trajectory of the center of gravity to optimize the algorithm.
8. Various Control Methods
1) WonderAi APP
2) Map Nav APP (Android Only)
3) PC Software
4) Wireless Handle.
