Humanoid Joint Ranges

[Rob]

Each AX-12 (joint) on the humanoid has a set range of movement (minimum position limit, maxium position limit) determined by the plastic brackets (skeleton) it is attached to. I was wondering how people out there were dealing with this when creating custom code fro the bioloid.

I think there are two ways:
1) Configure the range limits of each joint and if the caller exceeds those then throw an error and don't move at all - easy to implement
2) Monitor the load on the joint and stop the joint movement if the load suddenly increases - harder I guess

Has any one successfully implemented #2 or are people just sticking with the #1 approach?

[Pev]

Hi,

The AX-12 has a present load feature that can tell you when the load exceeds a chosen amount. I used it when I experimented witha simple gripper that realised when it had gripped something:

http://robosavvy.com/forum/viewtopic.php?t=1028

Pev

[Rob]

Hi Pev,

Nice gripper, did you just keep reading the load values while the gripper was moving? Did you program this in the BCP?

Rob