RoboSavvy Forum

Compliance programming

2006-11-22T10:08:46+01:00

How now chaps,
Just some additional info on Bullit's RN1 head.

A trip around my local lego shop yielded a "Bionicle Inika, Toa Nuparu". This kit contains the "Bullit head" and cost £7.

This seems to be the most appropriate head in the range, for an RN1, but when i have more time i might try the others for size.

To Bullit and Hive, any chance of a step by step "build your own colour changing eyes" tutorial - for those of us "on the learning curve"? (using the std 5V)

thanks, ds

Statistics: Posted by plingboot — Wed Nov 22, 2006 10:08 am

Compliance programming

2006-11-22T02:14:02+01:00

ok, i finally got it going properly.
its really cool bro
instead of using the arm as a joystick, how about reposding like if u push him backwards, he walks backward.
i was poking rn1 in the chest and he was walking backwards, but sometimes forwards too. itd be cool if when pushed from side, he does side step , etc etc..

oh and is there a way stop him from "follow_me" sequence incase of changing to somethign else..?

Statistics: Posted by onesandzeros — Wed Nov 22, 2006 2:14 am

Compliance programming

2006-11-22T00:44:40+01:00

onesandzeros -
In my code the first 3 motorin's don't have a catch for a 0 return (indicating the controller didn't read the servo position).
If one of the first 3 reads is a zero this causes the behavior you indicate. If you restart the routine again it will usually be ok. Perhaps a future improvement to my code could catch this condition in the first 3 reads as it does inside the loop.

Statistics: Posted by Bullit — Wed Nov 22, 2006 12:44 am

Compliance programming

2006-11-21T23:06:29+01:00

i managed to stick it in there after a while.
i had to remove the chestbeat routine, it was conflicting with the voltage code.
my now guy just goes off on his own without waiting for input from me..

i tried messign with zero settings alil, you think this is why?

Statistics: Posted by onesandzeros — Tue Nov 21, 2006 11:06 pm

Compliance programming

2006-11-21T21:29:53+01:00

i tried to send this code to my robonova, but errors comes.
i tried to add it to overal template, and i get errors.

if i compile the code alone, its fine,
only i kant add it to my current template

i really want to play with my robonova to see this amazing code..

Statistics: Posted by onesandzeros — Tue Nov 21, 2006 9:29 pm

Compliance programming

2006-11-21T17:45:40+01:00

hey Bullit
thats very impressive.
And like the others, i like the head on ur robonova...

thanks for sharing the code, ill be trying it out shortly, cant wait

Statistics: Posted by onesandzeros — Tue Nov 21, 2006 5:45 pm

Compliance programming

2006-11-21T11:50:52+01:00

Thanks for the info.

The head and servo(s) i can do, but without some obvious diagrams i think the led eyes might be a little beyond my current ability

Statistics: Posted by plingboot — Tue Nov 21, 2006 11:50 am

Compliance programming

2006-11-21T01:08:55+01:00

plingboot - I use 3 PWM ports to control 3 different color LED colors, see Hive's post here
And couple images of my robot head.

I use a standard HSR-8498HB mounted in the chest. Its a tight fit but it works. I've considered using a smaller servo just to be lighter. Don't really need catch and play for head rotation so a standard analog servo would do. I also considered installing a very small cirrus servo inside the head to add tilt. Just haven't gotten around to it yet. Head motion doesn't need much toque.

DirtyRoboto - Its all good as long as nobody gets hurt and as always use at your own risk.

Statistics: Posted by Bullit — Tue Nov 21, 2006 1:08 am

Compliance programming

2006-11-20T19:35:24+01:00

Bullit, do you mind if I piggy back your compliance code?

I have just come up with a neat interactive game that can be played with our robots using the principals we have tried so far. It would save me a great deal of trouble of writing the code from scratch.

Thanks.

Marcus.

PS. This technique can also be used in Robo battles to invoke moves in response to outside stress.

Statistics: Posted by DirtyRoboto — Mon Nov 20, 2006 7:35 pm

Re: Compliance programming

2006-11-20T17:01:01+01:00

Bullit wrote:
I decided after looking at DirtyRoboto's handshake I'd give some compliance programming a try. I was kind of impressed by the ability of the RN-1 to measure position and hence compliance.

Very impressive. I like it a lot-

http://www.robots-dreams.com/2006/11/taking_your_rob.html

Now, if I can only figure out how to emulate the same behavoir with my humanoids.
8O

Statistics: Posted by tempusmaster — Mon Nov 20, 2006 5:01 pm

Compliance programming

2006-11-20T11:24:17+01:00

Could you post a bit more detail about the head modifications?

ie - pics and parts required etc?

I'd been 'experimenting' with sculpting a head and trying to cast it in a rigid latex which could be streached over a servo etc. etc.

...but your solution seems to be much more effective for far less effort.

Thanks, david

Statistics: Posted by plingboot — Mon Nov 20, 2006 11:24 am

Compliance programming

2006-11-20T01:30:12+01:00

It's a modified Lego Bionicle head. My LED eyes and mount.

Statistics: Posted by Bullit — Mon Nov 20, 2006 1:30 am

Compliance programming

2006-11-20T00:50:47+01:00

Excellent stuff!

Where did you get your RNs head from?

Statistics: Posted by beermat — Mon Nov 20, 2006 12:50 am

Compliance programming

2006-11-19T18:49:14+01:00

Truly innovative concept and programming

Statistics: Posted by i-Bot — Sun Nov 19, 2006 6:49 pm

Compliance programming

2006-11-19T18:44:55+01:00

So why does he seem to get angry when you push him down?-Doesnt like being repressed?

I'd watch your fingers... with those sharp grippers, if he got too angry, he could do a lot of damage.

cool.

Statistics: Posted by hivemind — Sun Nov 19, 2006 6:44 pm