Increase Height of BIOLOID Type A
Increase Height of BIOLOID Type A
by MOHIT JINDAL
Wed Jan 19, 2011 12:36 am
I want to know what changes in task code or motion code i have to do if some how I increase the height of type A ?
I just want to walk Bioloid with tall legs.
I just want to walk Bioloid with tall legs.
by RoboFlop
Wed Jan 19, 2011 1:47 pm
I dont think there is a formula for it. If you change something that is fundamental to the way the robot walks you will most likely have to reprogramme the entire gait.
That doesnt mean starting *entirely* from scratch necessarily (maybe close though?), - maybe you could run through each frame of the existing gait in roboplus motion and make the necessary modifications to try and achieve something that works.
Not sure how the values might change regarding the gyro joint offsets - but I expect someone will...
Let us know how you work it out though... I was thinking of some changes that would affect the leg length myself...
That doesnt mean starting *entirely* from scratch necessarily (maybe close though?), - maybe you could run through each frame of the existing gait in roboplus motion and make the necessary modifications to try and achieve something that works.
Not sure how the values might change regarding the gyro joint offsets - but I expect someone will...
Let us know how you work it out though... I was thinking of some changes that would affect the leg length myself...
I don't want big foot.
Learn
by UncleBob
Thu Jan 27, 2011 9:49 am
I think you should learn the basic first. Make your own custom walking gait with the existing robot before even thinking of making it walk with a tall robot.
2-3 feet ? I think the AX12 might not have enough torque for that.
BTW the taller it is the harder to balance and walk.
2-3 feet ? I think the AX12 might not have enough torque for that.
BTW the taller it is the harder to balance and walk.
Dynamixel Angle
by MOHIT JINDAL
Mon Jan 31, 2011 5:36 am
Hi,
Can anyone please tell me how to set Ax12+ Dynamixel angle to 30 degrees from Roboplus ?
I dont want the angle 300 or 360.
Can anyone please tell me how to set Ax12+ Dynamixel angle to 30 degrees from Roboplus ?
I dont want the angle 300 or 360.
by Fritzoid
Mon Jan 31, 2011 12:49 pm
That's an easy one!
The dynamixel servo has an angular range from zero to 300 degrees. The positional range is zero to 1023. To calculate position change per angle change we simply divide. 1023/300 = 3.41 position points per degree. Multiply the result by 30 to get the positional change you're looking for... 102.
The center of the servo range is at position 511. To move the servo 30 degrees to the left of center we add 102 to 511 to get position 613. A position 30 degrees to the right of center would be 409.
You may also want to look into the Pose Utility (in RoboPlus Motion). Its inverse kinematics feature can be used to move servos using angular rather than positional control.
The dynamixel servo has an angular range from zero to 300 degrees. The positional range is zero to 1023. To calculate position change per angle change we simply divide. 1023/300 = 3.41 position points per degree. Multiply the result by 30 to get the positional change you're looking for... 102.
The center of the servo range is at position 511. To move the servo 30 degrees to the left of center we add 102 to 511 to get position 613. A position 30 degrees to the right of center would be 409.
You may also want to look into the Pose Utility (in RoboPlus Motion). Its inverse kinematics feature can be used to move servos using angular rather than positional control.
Dynamixel Angle
by MOHIT JINDAL
Tue Feb 01, 2011 12:56 am
Thanks,
I understand the concept now but how can I actually set the angle to 30 degrees ?
I want Dynamixel to turn 30 degrees only permanent.
I understand the concept now but how can I actually set the angle to 30 degrees ?
I want Dynamixel to turn 30 degrees only permanent.
by Fritzoid
Thu Feb 03, 2011 3:05 pm
Mohit,
If your asking how to limit the motion to 30 degrees then you can set the CW and CCW Angle Limits in the dynamixel control table to accomplish this.
If your asking how to move the servos by angles (instead of position) in RoboPlus. The only way I know is to use the Pose Utility in RoboPlus Motion. It's accessible from a tab on the right-hand side of the Motion window.
If the Pose Utility doesn't meet your needs and you know a little C# programming (or are willing to learn) then you can actually extend RoboPlus Motion program!
It's a little-known fact but the Motion program has an SDK (Software Development Kit) and it's already installed on your computer! Take a look in ..\ROBOTIS\RoboPlus\Motion, you'll find a number of .dll files there. These libraries contain class definitions that can be imported into any C# project. So extending the functionality to include any number of control schemes can be easily achieved.
If your asking how to limit the motion to 30 degrees then you can set the CW and CCW Angle Limits in the dynamixel control table to accomplish this.
If your asking how to move the servos by angles (instead of position) in RoboPlus. The only way I know is to use the Pose Utility in RoboPlus Motion. It's accessible from a tab on the right-hand side of the Motion window.
If the Pose Utility doesn't meet your needs and you know a little C# programming (or are willing to learn) then you can actually extend RoboPlus Motion program!
It's a little-known fact but the Motion program has an SDK (Software Development Kit) and it's already installed on your computer! Take a look in ..\ROBOTIS\RoboPlus\Motion, you'll find a number of .dll files there. These libraries contain class definitions that can be imported into any C# project. So extending the functionality to include any number of control schemes can be easily achieved.
