Simulated Premium

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
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Simulated Premium

Post by Fritzoid » Wed Mar 09, 2011 1:05 pm

Post by Fritzoid
Wed Mar 09, 2011 1:05 pm

Here's the first decent output I've gotten after many months of work.

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You will all recognize the robot as a Bioloid Premium but the environment may not be so familiar. I'm using OpenHRP3 from Japan.http://www.openrtp.jp/openhrp3/en/index.html
Here's the first decent output I've gotten after many months of work.

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You will all recognize the robot as a Bioloid Premium but the environment may not be so familiar. I'm using OpenHRP3 from Japan.http://www.openrtp.jp/openhrp3/en/index.html
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Post by billyzelsnack » Wed Mar 09, 2011 10:04 pm

Post by billyzelsnack
Wed Mar 09, 2011 10:04 pm

AWESOME! (Please note the use of caps.)
AWESOME! (Please note the use of caps.)
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Post by limor » Thu Mar 10, 2011 12:49 am

Post by limor
Thu Mar 10, 2011 12:49 am

Are you emulating Bioloid motionbuilder gaits ?
Are you emulating Bioloid motionbuilder gaits ?
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Post by Fritzoid » Thu Mar 10, 2011 12:42 pm

Post by Fritzoid
Thu Mar 10, 2011 12:42 pm

I'm not sure what you mean by motionbuilder, limor.

If you mean Robotis motion files, then the answer is yes. The controller simulates a bank of AX-12+ servos. It receives new goal positions every 7.825 milliseconds and computes the new PWM signal once every millisecond.

The positioning data in the above example was generated by tracing the sync_write commands issued on a real Bioloid, while I played the Bow motion page. I have a utility program that converts the sync_write packets into the time-stamped integer sequence format used by the simulator.

But this is just an expedience. I am presently working on a java program that can read .mtn files and generate the integer sequenced data directly. It will simulate the code in the CM-510 that generates sync_writes.
I'm not sure what you mean by motionbuilder, limor.

If you mean Robotis motion files, then the answer is yes. The controller simulates a bank of AX-12+ servos. It receives new goal positions every 7.825 milliseconds and computes the new PWM signal once every millisecond.

The positioning data in the above example was generated by tracing the sync_write commands issued on a real Bioloid, while I played the Bow motion page. I have a utility program that converts the sync_write packets into the time-stamped integer sequence format used by the simulator.

But this is just an expedience. I am presently working on a java program that can read .mtn files and generate the integer sequenced data directly. It will simulate the code in the CM-510 that generates sync_writes.
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Post by i-Bot » Thu Mar 10, 2011 2:44 pm

Post by i-Bot
Thu Mar 10, 2011 2:44 pm

To interface to Robopus and the motion files, you may find the Darwin code here of some help:
http://darwinop.svn.sourceforge.net/viewvc/darwinop/trunk/darwin/Linux/project/roboplus/

The source and protocol are there for the darwin TCP/IP socket interface into Roboplus supporting motion transfer and remote control from Roboplus over the socket. Also the motion file execution engine.

In other directories you will find theRobotis Darwin IK walking code and state machine source.
To interface to Robopus and the motion files, you may find the Darwin code here of some help:
http://darwinop.svn.sourceforge.net/viewvc/darwinop/trunk/darwin/Linux/project/roboplus/

The source and protocol are there for the darwin TCP/IP socket interface into Roboplus supporting motion transfer and remote control from Roboplus over the socket. Also the motion file execution engine.

In other directories you will find theRobotis Darwin IK walking code and state machine source.
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Post by Fritzoid » Thu Mar 10, 2011 5:04 pm

Post by Fritzoid
Thu Mar 10, 2011 5:04 pm

Hi i-Bot,

I'm not sure what you mean by "motion file execution engine" and I'm not finding any source code with that kind of name or functionality. Maybe you could point me to a particular file.

Could you be referring to the controller firmware mode which displays the {[ME]} prompt? I've always wondered what that ME means.
Hi i-Bot,

I'm not sure what you mean by "motion file execution engine" and I'm not finding any source code with that kind of name or functionality. Maybe you could point me to a particular file.

Could you be referring to the controller firmware mode which displays the {[ME]} prompt? I've always wondered what that ME means.
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Post by i-Bot » Thu Mar 10, 2011 9:51 pm

Post by i-Bot
Thu Mar 10, 2011 9:51 pm

I am not a Roboplus user, so the name may be wrong. I get confused by their use of Motion, action,pages, task, ...

The core of the execution of downloaded action pages appears in:
http://darwinop.svn.sourceforge.net/viewvc/darwinop/trunk/darwin/Framework/src/motion/modules/Action.cpp?revision=14&view=markup

See also the action editor code.

Having ignored the Roboplus side of Bioloid, I had been using the UPenn code on my Darwin-AX, but when I saw this Robotis Darwin C++ code, I thought to try it. It worked ( two "//" required only !) ! Even better than I thought.
I am not a Roboplus user, so the name may be wrong. I get confused by their use of Motion, action,pages, task, ...

The core of the execution of downloaded action pages appears in:
http://darwinop.svn.sourceforge.net/viewvc/darwinop/trunk/darwin/Framework/src/motion/modules/Action.cpp?revision=14&view=markup

See also the action editor code.

Having ignored the Roboplus side of Bioloid, I had been using the UPenn code on my Darwin-AX, but when I saw this Robotis Darwin C++ code, I thought to try it. It worked ( two "//" required only !) ! Even better than I thought.
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Post by Fritzoid » Fri Mar 11, 2011 12:47 pm

Post by Fritzoid
Fri Mar 11, 2011 12:47 pm

Holy $%#@, that's it :o

The actual source code for playing motion pages. It's virtually identical to the routine that runs on the AVR (CM-5/510/700)!

Nice find i-Bot, I won't be the only one interested in this!
Holy $%#@, that's it :o

The actual source code for playing motion pages. It's virtually identical to the routine that runs on the AVR (CM-5/510/700)!

Nice find i-Bot, I won't be the only one interested in this!
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Post by siempre.aprendiendo » Fri Mar 11, 2011 4:04 pm

Post by siempre.aprendiendo
Fri Mar 11, 2011 4:04 pm

Wow! Bravo for Robotis!
Thanks i-Bot for posting it
Wow! Bravo for Robotis!
Thanks i-Bot for posting it
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Post by Fritzoid » Thu Apr 14, 2011 12:36 pm

Post by Fritzoid
Thu Apr 14, 2011 12:36 pm

Here's a video of the same motion sequence but this time the motion data was generated using the DarwinOP code mentioned above.

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Notice that the motion is smoother now, due to some tweaking of the simulation controller.

There is also a short pause at the bottom of the bow that is captured properly with the DarwinOP motion handler but not seen in the original. This is due to the fact that the Darwin code sends sync_writes during the pause period while the Bioloid firmware does not.
Here's a video of the same motion sequence but this time the motion data was generated using the DarwinOP code mentioned above.

phpBB [media]


Notice that the motion is smoother now, due to some tweaking of the simulation controller.

There is also a short pause at the bottom of the bow that is captured properly with the DarwinOP motion handler but not seen in the original. This is due to the fact that the Darwin code sends sync_writes during the pause period while the Bioloid firmware does not.
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Post by excalibur » Wed Apr 20, 2011 11:28 am

Post by excalibur
Wed Apr 20, 2011 11:28 am

Hi Fritzoid
your simulator is awesome! but I faced with an error page and couldnt download it
which parameters are affecting the motions? have you simulated gravity, inertial force and etc too? or it only shows the motions and each servo`s position?
Hi Fritzoid
your simulator is awesome! but I faced with an error page and couldnt download it
which parameters are affecting the motions? have you simulated gravity, inertial force and etc too? or it only shows the motions and each servo`s position?
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Post by Fritzoid » Mon Apr 25, 2011 12:57 pm

Post by Fritzoid
Mon Apr 25, 2011 12:57 pm

Thanks excalibur, but it's not my simulator per se.

OpenHRP is a production of the University of Japan. I just built the XML robot model and the necessary controller. OpenHRP is a full-feature simulator specifically designed for humanoid robots. It includes gravity and frictional force simulation just for starters. It can also calculate COG and ZMP and has support for gyros, accelerometers and cameras.

You say that you hit an error page when downloading. Can you be more specific? The links seem good to me.
Thanks excalibur, but it's not my simulator per se.

OpenHRP is a production of the University of Japan. I just built the XML robot model and the necessary controller. OpenHRP is a full-feature simulator specifically designed for humanoid robots. It includes gravity and frictional force simulation just for starters. It can also calculate COG and ZMP and has support for gyros, accelerometers and cameras.

You say that you hit an error page when downloading. Can you be more specific? The links seem good to me.
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Post by Fritzoid » Mon Apr 25, 2011 4:09 pm

Post by Fritzoid
Mon Apr 25, 2011 4:09 pm

Here's a new video showing the robot walking upright. The positioning data was generated from the Bioloid motion file using the DarwinOP action routine.

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The servo controller is greatly improved and includes simulated gear friction now, but it still needs some more work. I'll keep you updated as things progresses.
Here's a new video showing the robot walking upright. The positioning data was generated from the Bioloid motion file using the DarwinOP action routine.

phpBB [media]


The servo controller is greatly improved and includes simulated gear friction now, but it still needs some more work. I'll keep you updated as things progresses.
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Post by Fritzoid » Wed Apr 27, 2011 11:41 am

Post by Fritzoid
Wed Apr 27, 2011 11:41 am

Here's my latest walking video. This one's pretty close to the real thing.

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Here's my latest walking video. This one's pretty close to the real thing.

phpBB [media]
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Post by MOHIT JINDAL » Wed Apr 27, 2011 12:47 pm

Post by MOHIT JINDAL
Wed Apr 27, 2011 12:47 pm

Hi Fritzoid;

Can I do motion programming form your Simulation software :roll:

I want to make walking motion code myself.

UncleBob said the Inverse kinametic will not work. :cry:

Please tell me how I can make motion code myself to walk Bioloid.

Please Advice.
Hi Fritzoid;

Can I do motion programming form your Simulation software :roll:

I want to make walking motion code myself.

UncleBob said the Inverse kinametic will not work. :cry:

Please tell me how I can make motion code myself to walk Bioloid.

Please Advice.
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