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2011wpi
1.
Free Robotics Paul
Fitzpatrick
2.
3.
Freedom Defined: the
OSHW definition
4.
How does the
iCub stack up?
5.
6.
How roboticists and
OSHW can help each other Talk is personal opinion, not that of IIT or Robot Rebuilt
7.
iCub http://icub.org
8.
9.
53 degrees of
freedom (7 per arm, 9 per hand, 6 in head, 3 in torso, 6 per leg)
10.
Off-board power, computation;
on-board PC104 card, micro-controllers
11.
Tendon driven joints
for shoulder, hand
12.
Stereo cameras, microphones,
force/torque sensors, gyros
13.
V1.2: sensorized fingertips,
palms (108 taxels)
14.
iCubs
15.
16.
17.
Lots of discussions
going on about how to build good free licenses for hardware
18.
19.
20.
Hard to do
across loosely collaborating institutions
21.
Secrecy is complicated,
bureaucratic
22.
23.
Free licenses useful
for setting trusted ground rules
24.
25.
26.
27.
28.
Modeled after the
Debian Free Software Guidelines.
29.
New, still being
hammered out (v1.0 was released Feb. 2011)
30.
31.
whose design has
been released to the public in such a way that anyone can make, modify, distribute, and use those things.”
32.
33.
34.
35.
Against fields of
endeavor
36.
37.
38.
39.
More importantly, public
repository is used internally
40.
But it takes
a lot of documentation to build a humanoid!
41.
42.
43.
Secrets are expensive,
and get lost
44.
45.
46.
47.
48.
iCub developers may
get away with mistakes a juicier target might not
49.
PR2 Willow Garage
50.
51.
Free, open-source software
= ROS etc
52.
53.
54.
Arduino Smart Projects,
Italy
55.
56.
57.
Everything that can
be free and open, is (but name reserved)
58.
59.
Lots of copies,
derivatives
60.
Copyright-based licensing is
being respected, emulated
61.
Beagleboard Texas Instruments
Digi-Key
62.
RepRap reprap.org
63.
64.
GPL license
65.
66.
67.
$1300 for thing-o-matic
kit
68.
69.
Sometimes used for
prototyping before sending to service e.g. Shapeways to build part in desired material
70.
Global Village Construction
Set
71.
72.
Buy: $8000.
Designs: Creative Commons by-sa-3.0
73.
Arduino inside
74.
RepRap inside (plans)
75.
Colliding on thingiverse
e.g. thing:7291
76.
77.
78.
79.
80.
Work differently to
copyrights, different legal world
81.
“Copyleft” hack has
no clear equivalent
82.
83.
84.
85.
Expired patents can
stimulate OSHW
86.
87.
88.
For whatever reason,
technological or legal
89.
tactile triangles IIT
/ University of Genova
90.
91.
92.
“... a specific
instantiation (e.g. the PCB design and corresponding software) can still be under GPL without affecting the patent.”
93.
Not sure about
whether this actually will work out “Father of iCub” One of patent holders
94.
95.
Happy community of
users develop, software becomes well known
96.
Company B uses
software in a product
97.
Company B wants
to ship product without offering source code...
98.
99.
Without patent, Company
B could just redraft designs and work around copyright
100.
101.
Borrowing software licenses
is a hack
102.
103.
104.
Adafruit talk at:
foo camp east 2010
105.
106.
107.
Need folks with
hardware+software skills (e.g. roboticists) to liberate the toolchain
108.
109.
110.
Plus: summer school
in Italy “ VVV11”
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