RLEG Overo

This document focuses on the set-up and use of a platform deverloped with general propose for robotic in the laboratory. It was a set of the main board with a Gumstix Overo processor box and the PINTO-TH breakout board and auxiliary board to connect with the actuator and sensors. In this notes is the description of the use in the original propose in a knee prosthesis and a brief information for how to use for other applications.

Introduction

Powering the System

It was designed for support two DC supply, one that provide a specific voltage for the sensors and processor e other for the actuator witch can be control by the software. The fist supply can be in the range of 5V to 12V. But the system is not stable in any voltage greater than 10.5V.

Connections

Instaling the Linux Kernel on the Overo

[angsbrom on overo]

Running and Compiling Programs

Conection with Overo by Kermit on Linux

1. Connect the cable USB mini-B
2. Configure the kermit:
3. Create a file named .mykermrc
4. Write in the file:

set line /dev/ttyUSB0
set flow-control none
set carrier-watch off
set speed 115200
connect

5. Start kermit

   $ kermit
   

6. Turn on the Overo Board and wait the boot process

7. Login with some user

Preparing the Gumstix for receve the files

root@overo:\# kermit -rz