Simulation of DARwIn-OP in Webots

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Simulation of DARwIn-OP in Webots

Post by fabien.rohrer » Tue May 31, 2011 5:07 pm

Post by fabien.rohrer
Tue May 31, 2011 5:07 pm

Hi all,

I'm glad to announce that Webots 6.4.0 (mobile robotics simulator) contains a model of DARwIn-OP which can read the Robotis motion files.

I encourage you to take a look at these movies introducing our work more quickly than words:
http://www.youtube.com/watch?v=onCsrGnPHQk
http://www.youtube.com/watch?v=xoIVDK2BmD0

If you're interesting to try out this simulation, you're welcome to download and install the FREE version of Webots from this URL:
http://www.cyberbotics.com/download
and run this simulation file:
$WEBOTS/projects/robots/darwin-op/worlds/darwin-op.wbt

The robot model contains principally:
- the 20 DOF of the robot
- the leds, the accelerometer, the gyro and the camera
- a realistic physics model (masses, torques, ...)
- a controller being able to read the Robotis motion files

Enjoy!
Fabien Rohrer
Hi all,

I'm glad to announce that Webots 6.4.0 (mobile robotics simulator) contains a model of DARwIn-OP which can read the Robotis motion files.

I encourage you to take a look at these movies introducing our work more quickly than words:
http://www.youtube.com/watch?v=onCsrGnPHQk
http://www.youtube.com/watch?v=xoIVDK2BmD0

If you're interesting to try out this simulation, you're welcome to download and install the FREE version of Webots from this URL:
http://www.cyberbotics.com/download
and run this simulation file:
$WEBOTS/projects/robots/darwin-op/worlds/darwin-op.wbt

The robot model contains principally:
- the 20 DOF of the robot
- the leds, the accelerometer, the gyro and the camera
- a realistic physics model (masses, torques, ...)
- a controller being able to read the Robotis motion files

Enjoy!
Fabien Rohrer
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Post by limor » Tue May 31, 2011 6:56 pm

Post by limor
Tue May 31, 2011 6:56 pm

looks great!

any plans to run the DARwIn gait generator in the simulator?
looks great!

any plans to run the DARwIn gait generator in the simulator?
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Post by MOHIT JINDAL » Wed Jun 01, 2011 8:03 am

Post by MOHIT JINDAL
Wed Jun 01, 2011 8:03 am

Will It work for Bioloid Premium kit ? How ? :roll:
Will It work for Bioloid Premium kit ? How ? :roll:
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Post by fabien.rohrer » Wed Jun 01, 2011 9:30 am

Post by fabien.rohrer
Wed Jun 01, 2011 9:30 am

Thank you for your interest ^^

@limor: We planned to implement the gait generator soon. I keep you in touch through this post.
Fundamentally, everything is already there to do so. The virtual robot can be actuated precisely and the robot software is open source. The question is about wrapping the simulation to and from the real robot. We implemented a first controller reading the motion binaries to prove that this is possible. A second step is to increase the relation Webots-DARwIn-OP. But meanwhile, beginning to program the virtual robot is already possible. Everything helping us to increase this relation is welcome!
Using the Webots tools to generate gaits and finishing their calibration on the real robot is also an alternative which would be simpler to implement than the gait generator.

@MOHIT JINDAL: we have also models of Bioloid dog, KHR-2HV, KHR-3HV:
http://www.youtube.com/watch?v=hMRYdd0Jlis
http://www.youtube.com/watch?v=AtaGm9nR-EM
http://www.youtube.com/user/cyberboticswebots#p/u/3/BWZEDVYGbbQ
Feel free to try them directly on our software. We have no modules for the Bioloid kit, but modeling your own robot is easy through Webots.
Thank you for your interest ^^

@limor: We planned to implement the gait generator soon. I keep you in touch through this post.
Fundamentally, everything is already there to do so. The virtual robot can be actuated precisely and the robot software is open source. The question is about wrapping the simulation to and from the real robot. We implemented a first controller reading the motion binaries to prove that this is possible. A second step is to increase the relation Webots-DARwIn-OP. But meanwhile, beginning to program the virtual robot is already possible. Everything helping us to increase this relation is welcome!
Using the Webots tools to generate gaits and finishing their calibration on the real robot is also an alternative which would be simpler to implement than the gait generator.

@MOHIT JINDAL: we have also models of Bioloid dog, KHR-2HV, KHR-3HV:
http://www.youtube.com/watch?v=hMRYdd0Jlis
http://www.youtube.com/watch?v=AtaGm9nR-EM
http://www.youtube.com/user/cyberboticswebots#p/u/3/BWZEDVYGbbQ
Feel free to try them directly on our software. We have no modules for the Bioloid kit, but modeling your own robot is easy through Webots.
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Post by MOHIT JINDAL » Wed Jun 01, 2011 10:59 am

Post by MOHIT JINDAL
Wed Jun 01, 2011 10:59 am

I increased the height of my Bioloid mechanically and now i want to make it walk :o Will your software detect my long Bioloid or its just a software like AutoCad and Maya3d ? :roll:
I increased the height of my Bioloid mechanically and now i want to make it walk :o Will your software detect my long Bioloid or its just a software like AutoCad and Maya3d ? :roll:
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Post by fabien.rohrer » Wed Jun 01, 2011 11:07 am

Post by fabien.rohrer
Wed Jun 01, 2011 11:07 am

@MOHIT JINDAL: I'm not sure to understand. Webots simulates robots graphically and physicaly. Several models are available, and can be easily modified. Modifying the size of a component should be easy to reflect on the virtual model. But don't except to have a magical detection of this, or to have a magical adaptation of the controller.
@MOHIT JINDAL: I'm not sure to understand. Webots simulates robots graphically and physicaly. Several models are available, and can be easily modified. Modifying the size of a component should be easy to reflect on the virtual model. But don't except to have a magical detection of this, or to have a magical adaptation of the controller.
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Post by fabien.rohrer » Tue Jun 14, 2011 10:00 am

Post by fabien.rohrer
Tue Jun 14, 2011 10:00 am

I implemented a wrapper to the Robotis gait generator. A movie depicts the DARwIn-OP simulation:
http://www.youtube.com/user/cyberboticswebots#p/u/0/cFIvnh_9rgE

This will be included in the next Webots release, but you can ask me if you want the code before.
I implemented a wrapper to the Robotis gait generator. A movie depicts the DARwIn-OP simulation:
http://www.youtube.com/user/cyberboticswebots#p/u/0/cFIvnh_9rgE

This will be included in the next Webots release, but you can ask me if you want the code before.
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Re: Simulation of DARwIn-OP in Webots

Post by peyman » Fri Nov 15, 2013 9:43 pm

Post by peyman
Fri Nov 15, 2013 9:43 pm

hi
i need webots code for planinig and navigation mobile robot base BFOA (bacterial foragin optimazation algorithm)
please help mi
email: peyman.jabraelzade@gmail.com
hi
i need webots code for planinig and navigation mobile robot base BFOA (bacterial foragin optimazation algorithm)
please help mi
email: peyman.jabraelzade@gmail.com
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Re: Simulation of DARwIn-OP in Webots

Post by fabien.rohrer » Tue Nov 19, 2013 8:38 am

Post by fabien.rohrer
Tue Nov 19, 2013 8:38 am

I advise you to download Webots and to create a account with the 30-days trial licence.
http://www.cyberbotics.com/download
http://www.cyberbotics.com/my_account/register

This allows to access all the DARwIn-OP features.
The project in included in Webots, but also open-source:
https://github.com/darwinop/webots-cross-compilation
(A similar file hierarchy is present in the Webots)

The startup documentation is available there:
https://github.com/darwinop/webots-cros ... win-op.pdf

To buy a license, please visit:
http://www.cyberbotics.com/webots/
or contact us at: sales/* at */cyberbotics/* dot */com

Sincerely,
Fabien Rohrer
I advise you to download Webots and to create a account with the 30-days trial licence.
http://www.cyberbotics.com/download
http://www.cyberbotics.com/my_account/register

This allows to access all the DARwIn-OP features.
The project in included in Webots, but also open-source:
https://github.com/darwinop/webots-cross-compilation
(A similar file hierarchy is present in the Webots)

The startup documentation is available there:
https://github.com/darwinop/webots-cros ... win-op.pdf

To buy a license, please visit:
http://www.cyberbotics.com/webots/
or contact us at: sales/* at */cyberbotics/* dot */com

Sincerely,
Fabien Rohrer
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