Compliance programming

[Bullit]

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. I did find one important item that was missed in DirtyRoboto's handshake. Occasionally when reading the motor position with the MotorIn command the returned reading will be 0 indicating that the servo position was not read. This needs to be handled in the code somewhere to ensure the position gets re-read. In my example I measure 2 servos to initiate walking forward, back and sideways just by pulling or pushing his right arm. A leg servo is used to sense pressing on his shoulders to make him squat.

Compliance video
SourceCode
I put the source up for download instead of posting it since its rather large.

[Bullit]

If you've watched the video then you have also seen my RN-1's awesome chest beat (the code is inlcuded above)

click on the small image below to see a larger version.

[Ray]

Its great !

Thanks Bullit.

[DirtyRoboto]

I am just about to have a look at your code but thought I would add first, that I had another routine that used the arm as a joystick but it was limited to controlling the other arm.

Marcus.

[DirtyRoboto]

Wow, I love that.
Congrats on a nice bit of code. I found it worked really well and gave a nice paternal feel to the control of the robot.

Marcus.

[Ric]

Paternal !
I think you may be spending too much time with your RN-1 Dirty

Ric

[limor]

amazing

[hivemind]

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.

[i-Bot]

Truly innovative concept and programming

[beermat]

Excellent stuff!

Where did you get your RNs head from?

[Bullit]

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

[plingboot]

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

[tempusmaster]

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

[DirtyRoboto]

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.

[Bullit]

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.