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AlexanderKoch-Koch / low_cost_robot

MIT License
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How do you control the robot arm? #20

Closed johnnevins closed 3 weeks ago

johnnevins commented 5 months ago

Hi, thanks much for sharing this low-cost solution and saw your demo video on X which is great. Wonder did you use a local PC with GPU to implement the inference of imitation learning? Would it be possible to use a remote server with GPU to control the arm? I've read through the readme, but not able to find how the algorithm communicates with the hardware, could you elaborate more on this?

Appreciated Patrick

AlexanderKoch-Koch commented 5 months ago

I've used my macbook directly to interface with the servos. In newer demos, I've used Raspberry Pis on the robot arms to connect them via ethernet to a central server.

johnnevins commented 5 months ago

I've used my macbook directly to interface with the servos. In newer demos, I've used Raspberry Pis on the robot arms to connect them via ethernet to a central server.

Thanks much for the reply, as for the Raspberry Pis& server combination you mentioned, how do you translate output of the algorithm(position control I guess?) to executable code for hardware? Do you use GPIO, is there code/instruction for how to do that?

Also wonder how these two ways affect the execution speed? i.e. connecting them via ethernet to a central server vs. using PC directly to interface with the servos

Appreciated. Bests:)