Video of going up stairs

[Pev]

Well we seem to have made some progress - have managed to get Robonova to go up two steps - it is the same code used for both steps repeated so in theory would work for a longer set of stairs. Each step is 19mm high and the middle step is 106mm deep. Still not the most elegant walk up the stairs but Robonova stays stable and balanced for the whole routine.

Anyway we hope you enjoy, and apologies for the lighting.

http://robosavvy.com/Builders/Pev/RN1-Stairs5.wmv

Pev, P anf J

[Guest]

very cool!!!
please upload the program

[Pev]

very cool!!!
please upload the program

Okay this is the code to go up one step:

STEP1:
SPEED 3
'shift forward
MOVE G6A,100, 93, 145, 66, 100, 100
MOVE G6D,100, 92, 145, 68, 100, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C, 83, 44, 80, 100, 100, 100
WAIT
'DELAY 100
'Tilt1
MOVE G6A, 91, 93, 145, 66, 109, 100
MOVE G6D,111, 92, 145, 69, 88, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C,103, 63, 80, 100, 100, 100
WAIT
'DELAY 100
'lift left foot1
MOVE G6A, 91, 156, 59, 66, 113, 100
MOVE G6D,111, 92, 145, 69, 88, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C,103, 63, 80, 100, 100, 100
WAIT
'DELAY 100
'Swing left leg1
MOVE G6A, 91, 156, 59, 152, 113, 100
MOVE G6D,111, 92, 145, 65, 88, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C, 58, 29, 80, 100, 100, 100
WAIT
'DELAY 100

MOVE G6A, 91, 142, 25, 152, 113, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C, 58, 29, 80, 100, 100, 100
MOVE G6D,111, 92, 145, 65, 88, 100
WAIT
'DELAY 100
'Place Left Foot 1
MOVE G6A, 91, 50, 110, 152, 113, 100
MOVE G6D,111, 92, 145, 65, 88, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C, 58, 29, 80, 100, 100, 100
WAIT
'DELAY 100
'Place Foot 2
MOVE G6A, 91, 49, 125, 135, 111, 100
MOVE G6D,111, 92, 145, 65, 88, 100
MOVE G6C, 58, 29, 80, 100, 100, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
WAIT
'DELAY 100
'Tilt2
MOVE G6A, 99, 42, 125, 160, 111, 100
MOVE G6D, 99, 92, 145, 82, 89, 100
MOVE G6C,128, 77, 80, 100, 100, 100
MOVE G6B,153, 26, 80, 100, 100, 100
WAIT
'DELAY 100
'Shift Forward 1
MOVE G6A, 99, 100, 74, 163, 111, 100
MOVE G6D, 99, 90, 145, 73, 89, 100
MOVE G6B, 96, 58, 80, 100, 100, 100
MOVE G6C,143, 12, 80, 100, 100, 100
WAIT
DELAY 100
'shift weight
MOVE G6A,111, 100, 74, 163, 111, 100
MOVE G6D, 99, 90, 145, 73, 89, 100
MOVE G6B,151, 66, 80, 100, 100, 100
MOVE G6C,143, 12, 80, 100, 100, 100
WAIT
'DELAY 100
'lift right foot
MOVE G6D, 99, 159, 47, 73, 89, 100
MOVE G6A,111, 100, 74, 163, 111, 100
MOVE G6C,143, 12, 80, 100, 100, 100
MOVE G6B,151, 66, 80, 100, 100, 100
WAIT
'DELAY 100
'MOVE right leg forward
MOVE G6D, 99, 159, 47, 142, 92, 100
MOVE G6A,111, 100, 74, 163, 111, 100
MOVE G6C,143, 45, 80, 100, 100, 100
MOVE G6B,151, 66, 80, 100, 100, 100
WAIT
'DELAY 100
'Place Right Foot
MOVE G6D, 89, 81, 94, 152, 92, 100
MOVE G6A,111, 100, 74, 163, 111, 100
MOVE G6C,143, 45, 80, 100, 100, 100
MOVE G6B,151, 66, 80, 100, 100, 100
WAIT
'DELAY 100
'stand1
MOVE G6D,105, 88, 105, 133, 92, 100
MOVE G6A, 97, 100, 101, 128, 105, 100
MOVE G6B,151, 66, 80, 100, 100, 100
MOVE G6C,143, 45, 80, 100, 100, 100
WAIT
'DELAY 100

RETURN

You may want to put the delay statments back in as I am not sure how this will translate to another robonova. I call this subroutine from a key on the remote and the key code is:

GOSUB STEP1
GOSUB standard_pose
GOSUB STEP1
GOSUB standard_pose
GOTO main_exit

The steps are 19mm high and 106mm deep.

Hope this works for you

Pev

[Pev]

We have managed to improve the gait a bit so it is more 'natural'. By that I mean we actually have the robot stepping over the step as a human does rather than placing both feet on every step.

Pev.

http://robosavvy.com/Builders/Pev/RN!-Stairs7.wmv

[crmfghtr]

Wow, I remember not that many years ago when they said the task of making a humanoid robot able to walk up stairs is near impossible. Sort of like they said we could never put a man on the moon! Well done! Gonna try your program myself