19DOF Humanoid Demo (with Videos, Motion and BCP files)
19DOF Humanoid Demo (with Videos, Motion and BCP files)
by stevo3d
Thu Jun 08, 2006 1:13 am
I've been busy with my 19DOF Humanoid creating an enhanced demo program. Click on each image to see the videos.
Bow: Clap 1 time and the robot will bow politely.
Touch Toes: Clap 2 times and the robot will touch its toes.
Headstand: Clap 3 times and the robot will stand on its head, perform some tricks, and return to standing.
One Foot: Clap 4 times and the robot will stand on one foot.
Clap: Clap 5 times or more and the robot will clap back the number of claps it heard. I have clapped as many as 112 times and the robot faithfully clapped back that number.
Shake: Pull gently forward on the robot's right hand. The robot will raise its arm to shake hands. If the hand is not shaken within a few seconds, the robot will give up and lower its arm. If the hand is grasped gently and lifted upward, the robot will shake hands 4 times, pull its hand back and lower its arm.
Raise Arms: Place an object near either side of the robot's head to make it raise the opposite arm. The height of the arm will be proportional to how close the object is to the IR proximity sensor.
Swing Arms: If during Raise Arms an object detected on the left side is close enough to raise the right arm all the way up, the robot will play a tone and transition into a goofy arm swinging routine. In this video, the robot also transitions into a dance routine that is disabled because it's not too reliable yet. Read the README file with the HumanoidDemo.zip to find out how to enable the dance. It's fun but the robot has a good chance of falling over at this point.
..and so on for two minutes or so.
Hug: Place an object right in front of the head sensor, like a fist, and the robot will reach up and hug it.
Martial Arts: Press the U button (careful not to activate the Raise Arms routine!), and the robot will crouch into a martial arts pose similar to the one seen on the Robotis web site.
Sorry for the poor quality of the videos. Someday I'll get something better than an old digital camera to make them.
This also includes the new and improved SilenceServos routine.
The motion file, program, and README can be downloaded from here:
http://people.arsc.edu/~munk/robot/file ... idDemo.zip
PLEASE READ THE README FILE!
I didn't spend all that time typing it just for the finger exercise.
Hope you enjoy playing with this. Let me know what you think (good or bad).
Bow: Clap 1 time and the robot will bow politely.
Touch Toes: Clap 2 times and the robot will touch its toes.
Headstand: Clap 3 times and the robot will stand on its head, perform some tricks, and return to standing.
One Foot: Clap 4 times and the robot will stand on one foot.
Clap: Clap 5 times or more and the robot will clap back the number of claps it heard. I have clapped as many as 112 times and the robot faithfully clapped back that number.
Shake: Pull gently forward on the robot's right hand. The robot will raise its arm to shake hands. If the hand is not shaken within a few seconds, the robot will give up and lower its arm. If the hand is grasped gently and lifted upward, the robot will shake hands 4 times, pull its hand back and lower its arm.
Raise Arms: Place an object near either side of the robot's head to make it raise the opposite arm. The height of the arm will be proportional to how close the object is to the IR proximity sensor.
Swing Arms: If during Raise Arms an object detected on the left side is close enough to raise the right arm all the way up, the robot will play a tone and transition into a goofy arm swinging routine. In this video, the robot also transitions into a dance routine that is disabled because it's not too reliable yet. Read the README file with the HumanoidDemo.zip to find out how to enable the dance. It's fun but the robot has a good chance of falling over at this point.
..and so on for two minutes or so.
Hug: Place an object right in front of the head sensor, like a fist, and the robot will reach up and hug it.
Martial Arts: Press the U button (careful not to activate the Raise Arms routine!), and the robot will crouch into a martial arts pose similar to the one seen on the Robotis web site.
Sorry for the poor quality of the videos. Someday I'll get something better than an old digital camera to make them.
This also includes the new and improved SilenceServos routine.
The motion file, program, and README can be downloaded from here:
http://people.arsc.edu/~munk/robot/file ... idDemo.zip
PLEASE READ THE README FILE!
I didn't spend all that time typing it just for the finger exercise.
Hope you enjoy playing with this. Let me know what you think (good or bad).
Last edited by stevo3d on Sat Jun 10, 2006 1:21 am, edited 3 times in total.
Steve Munk
by coldguy
Thu Jun 08, 2006 1:53 am
Very nice! I like to see that someone is making their robot interact, not just perform movement sequences. I think this is what makes the bioloid different from the other robots in this forum( and its a building kit that makes more than just a humanoid, and has serial communication with the servos and sensors, I can't wait to get mine!) I especially liked the last one where the arms raised relative to your hand's proximity. I also liked the handshake. I'll be interested in seeing the programs.
I've got to get one, so I can stop living vicariously through you and Inaki and the others in this forum!
I've got to get one, so I can stop living vicariously through you and Inaki and the others in this forum!
by stevo3d
Thu Jun 08, 2006 7:15 pm
No problem limor. I'd love for the demo to be used for that purpose. There are a couple of things I want to tune in the program, and then I'll post it ASAP. I'll make sure it's available by this weekend at the latest.
You bet. Interactivity, either with people or with the robot's environment, is the main thing that makes robots interesting to me. You definitely need to get yourself a Bioloid kit coldguy!
coldguy wrote:I like to see that someone is making their robot interact, not just perform movement sequences.
You bet. Interactivity, either with people or with the robot's environment, is the main thing that makes robots interesting to me. You definitely need to get yourself a Bioloid kit coldguy!
Steve Munk
by stevo3d
Sat Jun 10, 2006 12:55 am
I added some new videos and a download link for zipped up program files for the Humanoid Demo to the first post in this thread. Check it out.
Steve Munk
by stevo3d
Thu Jun 22, 2006 8:43 am
limor wrote:I'm planning to show the Bioloid next week at the Robocup show in Germany and it would be great to have the bioloid interacting in this way
Hi limor,
Did you try my demo code at Robocup and if so did it work for you? Whether or not you used the demo, how did people react to the Bioloid kit?
Has anyone else tried the Humanoid Demo? I'm curious to know if it works on anyone's Bioloid besides my own.
Steve Munk
by limor
Thu Jun 22, 2006 10:51 am
Stevo3d,
We didn't have time to set up a Bioloid in its full humanoid glory for the show. We brought two boxes and the plan was to have a live building session but as conferences go, we were too busy.
The kits were eventually sold. One has made its way to Singapore, the other to Iran..
Fortunately Barbar showed up with his celebrity beer server and it ran some movements but not the ones you posted. I'm planning to have a permanent demo unit and will definitely try out the above program.
We didn't have time to set up a Bioloid in its full humanoid glory for the show. We brought two boxes and the plan was to have a live building session but as conferences go, we were too busy.
The kits were eventually sold. One has made its way to Singapore, the other to Iran..
Fortunately Barbar showed up with his celebrity beer server and it ran some movements but not the ones you posted. I'm planning to have a permanent demo unit and will definitely try out the above program.
by barbar
Thu Jun 22, 2006 4:07 pm
Hi there,
an hour ago I recieved my new RS-232 card and finally managed to get the AX-12s updated (as the last of the forum
).
Stevo, I used your program for initial testing purposes - both program and robot are working very well (the modified hands of my bot sometimes scratch along its legs but thats because they have these wide brackets mounted). Thanks for the program!
Limor, sorry for not letting the bot show off a little better. I was concerned about not having the AX-12 updated yet ... so I chose that rather harmless hugging program.
But since everything seems to be ok now I hope to post appropriate motions and program files soon ... walking, running, jumping, somersaults, beer spilling ...
Cheers!
barbar
an hour ago I recieved my new RS-232 card and finally managed to get the AX-12s updated (as the last of the forum
).
Stevo, I used your program for initial testing purposes - both program and robot are working very well (the modified hands of my bot sometimes scratch along its legs but thats because they have these wide brackets mounted). Thanks for the program!
Limor, sorry for not letting the bot show off a little better. I was concerned about not having the AX-12 updated yet ... so I chose that rather harmless hugging program.
But since everything seems to be ok now I hope to post appropriate motions and program files soon ... walking, running, jumping, somersaults, beer spilling ...
Cheers!
barbar
by barbar
Fri Jun 23, 2006 8:30 pm
limor wrote: .. skateboarding!
I'll work on it!
... but here is a simple harmless rudimentary marching gait for the start:
marching.mtn
marching.bpg
Use at your own risk, but please warn us if something terrible occurs
... hope I didn't mess anything up ... having my second beer ...
Cheers!
barbar
Infos:
From an upright standing position press the start button.
Guide to the left/right by holding something (e.g. your hand) near the right/left IR sensor.
Hold something very near to the front IR sensor to quit (and catch ... torque is switched off).
Compared with the standard 19 DOF humanoid my robot has a few grams more in its upper regions (try different pose/motion speeds if nothing works the way it should).
Motionpage#s used (please dont care about any others):
# 50 (1 pose, stand)
# 51 (2 poses, left leg forward)
# 52 (2 poses, right leg forward)
# 53 (2 poses, left leg to the left)
# 54 (2 poses, right leg to the right)
Motions are calculated (excel) ... don't expect something natural.
Please remember to save motions before loading new ones (sorry for this "intelligent" piece of advice, but I so often forget it).
Smooth hard level surface (no mud, no grass, no carpet).
by VanHelsing
Sat Jun 24, 2006 10:03 am
barbar wrote:Motions are calculated (excel) ... don't expect something natural.
Barbar, did you find a neat way to transfer your calculated excel values to the motion pages (copy-paste like)? I now bang in ‘calculated’ positions ID for ID… pose for pose… page for page… in motioneditor or the terminal, which gets a bit tedious after a while. Tried it with ‘SendKeys’ but that’s always a pretty unsafe method. Would be nice if you found some smart way to do it
.
by barbar
Sun Jun 25, 2006 8:54 am
VanHelsing wrote: did you find a neat way to transfer ...values to the motion pages (copy-paste like)?
VanHelsing, alas no I didn't ... also using "modus digiti". I guess either the terminal program has to be modified/rewritten or (maybe easier and much better) a cute little editor for (offline) motion files ... both beyond my capabilities ...
by VanHelsing
Tue Jun 27, 2006 10:22 am
barbar wrote:a cute little editor for motion files ... beyond my capabilities ...
Yep, I would like that, but probably beyond my capabilities as well. Though I have to admit that I never really looked in depth at those motion files. Maybe Anaki (Biotoken) could ‘reverse engineer’ them?