Bioloid Humanoid Big Trak

[billyzelsnack]

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I'm having quite a bit of fun with Roboplus Task. It's actually not as difficult to work with as my first impression. For simple stuff it works just fine.

Here's the tsk..
http://www.mediafire.com/file/tzdnw1tml ... alance.tsk

[altwolf]

Is that a PS3 Eyetoy you attached to Mr. Loid?

[billyzelsnack]

Yes. PS3 eye. Soon I'll get a beagleboard and it'll actually be attached! haha. It should actually even work since this guy has already done it..

http://mechomaniac.com/robots

Here's a silly video of what it looks like from Bioloid's POV..

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[Musashi]

Really interesting!How did you connect the camera to the main board?

[billyzelsnack]

It's not. It's just hooked to my computer. It will soon be hooked to a beagleboard ( as in that mechomaniac link ) which is mounted on the Bioloid. I'm hoping to transmit the video over wifi ( using a wifi dongle attached to the beagleboard ) for Mechwarfare and use opencv to help with autonomous soccer.

[billyzelsnack]

Here's a slightly better version. It also has a modified motion file so you'll need that too. ( No wonder things made no sense.. The CM5 only allows for 127 pages and making a page at 230 really is not gonna work. doh! )

http://www.mediafire.com/?sharekey=e01a ... 2b9fc3640c

This one will use the gyros ( if you have a Hylands IMU ) while standing in place so you can see them working. Then it'll turn it off because it screws up walking ( haha. It does work, but Mr. Bioloid has a bit of trouble turning when he is compensating. More work is needed to make this work proper. )

Hit start.
Enter a sequence and hit start to execute it.
After it is executed it'll let you enter another sequence.. and so on.

[billyzelsnack]

Another update. You'll also need the new mtn file from above.
http://www.mediafire.com/?sharekey=e01a ... 450a8c1cf1

You now enter commands via a virtual menu. The buttons act as a cursor to select and start to execute.

pushup - left attack - forward - right attack - hand stand
left turn - left strafe - execute - right strafe - right turn
left block - left kick - backward - right kick - right block

So to do a right block then forward you'd go..
down - right - right - start
up - start
start

Currently the pushup and hand stand don't complete their motions because they require a different means of waiting for completion than everything else and I'm too lazy to make both cases work.

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btw. Roboplus has its issues, but it is a million times better than the previous software. I think it is really going to expand the market for the Bioloid since it finally enables ( without an insane amount of work ) a lot more of its potential.

btw2. I highly recommend switching over to the premium type a layout. The new layout with the new animations is so much more stable than the classic layout ( ignore the fact that I am using a gyro because as it is implemented in my code it actually makes it less stable! )

[altwolf]

That's good stuff Billy. It does look like he is alot more stable with that layout than the regular one. Regarding your earlier post where you talked about the 127 motion page limit: I hear that the new CM-510 can hold a lot more motion pages. That will make me and you much happier.

I recently did some surgery on my own Bioloid so that the battery sits down between the top two hip servos in an attempt to lower his center of gravity. It stopped my Bio from toppling over all the time, but it throws off the default animations just enough that now, over time, he builds up a sort of "oscillation" in his walking movements that eventually causes him to fall over.

Just a quick note: In the latest issue of Robot Magazine, there is an interesting article on how to "trim" (adjust the offsets etc.) the servos in a Humanoid robot to make it more stable.

[billyzelsnack]

I mess with the offsets quite regularly, but I'm not clear if I just end up wiping them when I set it in the balancing code.

Yeah. 50 variables is just not enough. Especially when I have to emulate arrays with if statements!

Also.. Luckily Robotis was kind enough to put the most useful motions within the first 127!