18 DOF Bioloid Walking
18 DOF Bioloid Walking
by Pev
Fri Aug 18, 2006 2:27 pm
Sorry for the delay - promised this earlier but have only just had time to do it. Here is a quick (rather poor I am afraid) video of the walking routines supplied with the latest Bioloid CD. Tried to get the cornering with the hip movement too.
http://robosavvy.com/Builders/Pev/18DOF.wmv
Pev
http://robosavvy.com/Builders/Pev/18DOF.wmv
Pev
by pepperm
Fri Aug 18, 2006 3:24 pm
Pev
Looks great, I am trying to do the same with my new Bioloid. The problem is that he keeps falling over backwards. Have you any hints for me please? Perhaps you would let me try your motion/code files.
Another problem I am having is that the range sensor doesn't seem to have any range at all. An obstacle needs to be very very close (say 10-20mm) from the sensor before it is seem. Have you had any problems with your distance sensors?
Mark
Looks great, I am trying to do the same with my new Bioloid. The problem is that he keeps falling over backwards. Have you any hints for me please? Perhaps you would let me try your motion/code files.
Another problem I am having is that the range sensor doesn't seem to have any range at all. An obstacle needs to be very very close (say 10-20mm) from the sensor before it is seem. Have you had any problems with your distance sensors?
Mark
by Pev
Sat Aug 19, 2006 8:23 am
pepperm wrote:Looks great, I am trying to do the same with my new Bioloid. The problem is that he keeps falling over backwards. Have you any hints for me please? Perhaps you would let me try your motion/code files.
Another problem I am having is that the range sensor doesn't seem to have any range at all. An obstacle needs to be very very close (say 10-20mm) from the sensor before it is seem. Have you had any problems with your distance sensors?
Mark
Mark
I had the same issue with my Bioloid falling over backwards. I took a fair bit of time getting him setup for his neutral position when standing. Using the offset settings in the Motion Editor.Still not sure mine is perfect but he doesn't fall over.
As for the sensor I have to agree. I have no trouble with the side to side sensors (I have adjusted them to be a bit more sensitive in the code) but the forward sensor does seem to have an issue, although I think it may be to do with how often it is sampled during walking forwards rather then the sensor. Will need to look into this when I get back to my bot on Sunday.
Pev
I think creating a good walk gait is probably one of the hardest things to do with a bi-ped. His ILR (independent leg rotation) is a bonus to boot. I dig it.
by pepperm
Sun Aug 20, 2006 2:50 pm
Pev
I've now got Loidy to walk OK on a wooden floor but he still falls over on carpet, be it forward rather than backwards now.
The trouble is that he doesn't seem to pick his feet up and the dragging of the front edge causes a trip more than a fall.
On wood (well laminate) he doesn't seem to have much grip either, maybe I will look at some thin non slip coating for his feet.
Have you or anyone seen a walking gate that actually lifts feet off of the floor?
Mark
I've now got Loidy to walk OK on a wooden floor but he still falls over on carpet, be it forward rather than backwards now.
The trouble is that he doesn't seem to pick his feet up and the dragging of the front edge causes a trip more than a fall.
On wood (well laminate) he doesn't seem to have much grip either, maybe I will look at some thin non slip coating for his feet.
Have you or anyone seen a walking gate that actually lifts feet off of the floor?
Mark
by Pev
Sun Aug 20, 2006 9:08 pm
pepperm wrote:Also Pev
Have you found any way to read in a motion file from disk so that it can be edited. This seems so basic that I have maybe missed the option or the point, but I can't figure out how I would edit the Humanoid walking file provided.
Marj
Hi,
I also see it issue with walking on carpet but carpet does tend to effect all my biped bots and can put a lot of load on the servos. Have thought about using a non-slip covering on the feet too, but again watch out for servo loading.
As for the motion file stuff. Load it to the CM-5 then access the motions in the CM-5 with the motion editor. Then you can export the motion file back to disk.
Hope this helps
Pev
by Pev
Mon Aug 21, 2006 9:51 am
pepperm wrote:Pev
How do you access the motions in the CM-5 with the motion editor please?
Mark
Hi Ya,
Okay plug the CM-5 into the serial port of your PC with the supplied programming lead. Then run the 'Motion Editor' supplied and installed with your Bioloid kit. The second edit box down on the right hand side says Page Number. Enter a page number there and hit return. The screen will update and show the sequence of moves there. You will need to ensure the humanoid.rbt file has been loaded into the motion editor and this can be done by using the Setup/Change Robot File menu option.
Its all in the user manual (though not as clear as it could be) so if you get stuck check that out.
Hope this helps
Pev
by Pev
Mon Aug 21, 2006 1:47 pm
Mark,
Try having a look at the Bioloid User Guide from the August software CD. The motion editor is chapter 6 on page 75. It is a bit clearer in this one.
There's a thread with a download link too. It's
http://robosavvy.com/modules.php?name=Forums&file=viewtopic&t=493
Pev
Try having a look at the Bioloid User Guide from the August software CD. The motion editor is chapter 6 on page 75. It is a bit clearer in this one.
There's a thread with a download link too. It's
http://robosavvy.com/modules.php?name=Forums&file=viewtopic&t=493
Pev