Developing a Walking Gait

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
11 postsPage 1 of 1
11 postsPage 1 of 1

Developing a Walking Gait

Post by kambozza » Sat Nov 10, 2012 1:13 pm

Post by kambozza
Sat Nov 10, 2012 1:13 pm

Hello Gurus,

I recently bought my first Bioloid Comprehensive Kit, and I am trying to get the humanoid to walk.

The built in walking gait is not so stable, after a few steps the robot would fall on its back.

I tried building my own walking gait, however apparently its a really difficult task.

I saw UncleBob's tutorial, but it was for a modified bioloid and doesnt work with the stock version.

Can anyone give me any guidance on how to build my own walking gait?

Thanks :)

K.
Hello Gurus,

I recently bought my first Bioloid Comprehensive Kit, and I am trying to get the humanoid to walk.

The built in walking gait is not so stable, after a few steps the robot would fall on its back.

I tried building my own walking gait, however apparently its a really difficult task.

I saw UncleBob's tutorial, but it was for a modified bioloid and doesnt work with the stock version.

Can anyone give me any guidance on how to build my own walking gait?

Thanks :)

K.
kambozza offline
Newbie
Newbie
Posts: 3
Joined: Sat Nov 10, 2012 1:13 pm

Post by serithseraki » Sat Nov 10, 2012 7:36 pm

Post by serithseraki
Sat Nov 10, 2012 7:36 pm

Since the Bioloid has Catch and play, I would pose it so that one leg is forward and one leg back with the feet level with the ground and its weight evenly distributed. If you can have the robot stand and hold this position without it being under power, then you know it will be stable. Then once you have that pose, use that pose and modify it step by step until you have all the poses from a forward step to the standing neutral pose, then just reverse it. This is my method for making walking gaits. If that doesn't work for you, you can use the catch and play feature to edit the existing poses to make them more stable.
Since the Bioloid has Catch and play, I would pose it so that one leg is forward and one leg back with the feet level with the ground and its weight evenly distributed. If you can have the robot stand and hold this position without it being under power, then you know it will be stable. Then once you have that pose, use that pose and modify it step by step until you have all the poses from a forward step to the standing neutral pose, then just reverse it. This is my method for making walking gaits. If that doesn't work for you, you can use the catch and play feature to edit the existing poses to make them more stable.
serithseraki offline
Savvy Roboteer
Savvy Roboteer
Posts: 75
Joined: Wed Oct 21, 2009 6:31 pm

Post by limor » Sun Nov 11, 2012 1:39 pm

Post by limor
Sun Nov 11, 2012 1:39 pm

There's a great software that can ease the way of making a humanoid walk and dance http://choreonoid.org/ja/ but bioloid needs to be ported to it.
btw: the Japanese version of the page and software is more up to date
If you have time to port the bioloid model and inertia data to this software then it will make things easier

otherwise you need to do trial and error for days using the motion editor. In the end you will get pretty good at it. we made the GP dance the sexy-and-i-know-it routine just by brute force trial and error.
There's a great software that can ease the way of making a humanoid walk and dance http://choreonoid.org/ja/ but bioloid needs to be ported to it.
btw: the Japanese version of the page and software is more up to date
If you have time to port the bioloid model and inertia data to this software then it will make things easier

otherwise you need to do trial and error for days using the motion editor. In the end you will get pretty good at it. we made the GP dance the sexy-and-i-know-it routine just by brute force trial and error.
limor offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 1845
Joined: Mon Oct 11, 2004 1:00 am
Location: London, UK

Post by kambozza » Sun Nov 11, 2012 5:39 pm

Post by kambozza
Sun Nov 11, 2012 5:39 pm

serithseraki wrote:Since the Bioloid has Catch and play, I would pose it so that one leg is forward and one leg back with the feet level with the ground and its weight evenly distributed.


The problem with this is that the robot doesn't raise its foot of the ground, instead it tried to "slide", which I discovered isn't possible since the ground's resistance/friction is too high it causes the robot to turn!

The moment you get into this route, you need to spend a lot of time manually configuring the servo positions (by editing each servo's position value) till you get what you want, which I couldn't pull off... I'm sure a combo of both approaches is possible but I wish there was some video or material to explain it


limor wrote:otherwise you need to do trial and error for days using the motion editor. In the end you will get pretty good at it. we made the GP dance the sexy-and-i-know-it routine just by brute force trial and error.


How many days? The Bioloid Comprehensive is not as flexible or advanced as the GP. The CM5 looks to be a heavy and bulky POS that makes it impossible for the robot to balance (on one leg for example such as the GP can)

Thanks gents[/quote]
serithseraki wrote:Since the Bioloid has Catch and play, I would pose it so that one leg is forward and one leg back with the feet level with the ground and its weight evenly distributed.


The problem with this is that the robot doesn't raise its foot of the ground, instead it tried to "slide", which I discovered isn't possible since the ground's resistance/friction is too high it causes the robot to turn!

The moment you get into this route, you need to spend a lot of time manually configuring the servo positions (by editing each servo's position value) till you get what you want, which I couldn't pull off... I'm sure a combo of both approaches is possible but I wish there was some video or material to explain it


limor wrote:otherwise you need to do trial and error for days using the motion editor. In the end you will get pretty good at it. we made the GP dance the sexy-and-i-know-it routine just by brute force trial and error.


How many days? The Bioloid Comprehensive is not as flexible or advanced as the GP. The CM5 looks to be a heavy and bulky POS that makes it impossible for the robot to balance (on one leg for example such as the GP can)

Thanks gents[/quote]
kambozza offline
Newbie
Newbie
Posts: 3
Joined: Sat Nov 10, 2012 1:13 pm

Post by Fritzoid » Wed Nov 14, 2012 3:58 pm

Post by Fritzoid
Wed Nov 14, 2012 3:58 pm

limor wrote
If you have time to port the bioloid model and inertia data to this software then it will make things easier


It turns out that the Choreonoid software uses the same model definitions as OpenHRP. Not too surprising since both systems were created at AIST (National Institute of Advanced Industrial Science and Technology) in Japan. What this means is that the Boiloid Premium model that I created as part of my BioSim project can be loaded into Choreonoid as is!

You can get a copy of the model by downloading BioSim.zip from my files area here at RoboSavvy. http://robosavvy.com/Builders/Fritzoid/BioSim.zip. Use Humanoid_A.wrl from the model subdirectory.
limor wrote
If you have time to port the bioloid model and inertia data to this software then it will make things easier


It turns out that the Choreonoid software uses the same model definitions as OpenHRP. Not too surprising since both systems were created at AIST (National Institute of Advanced Industrial Science and Technology) in Japan. What this means is that the Boiloid Premium model that I created as part of my BioSim project can be loaded into Choreonoid as is!

You can get a copy of the model by downloading BioSim.zip from my files area here at RoboSavvy. http://robosavvy.com/Builders/Fritzoid/BioSim.zip. Use Humanoid_A.wrl from the model subdirectory.
Fritzoid offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 331
Joined: Mon Dec 18, 2006 1:00 am

Post by Fritzoid » Mon Nov 26, 2012 6:57 pm

Post by Fritzoid
Mon Nov 26, 2012 6:57 pm

Better yet, here's the same model along with the necessary YAML definitions needed to use Choreonoid. I've also included a Choreonoid project and motion file that simulates the walking gait provided with RoboPlus.

http://robosavvy.com/Builders/Fritzoid/Choreonoid.zip
Better yet, here's the same model along with the necessary YAML definitions needed to use Choreonoid. I've also included a Choreonoid project and motion file that simulates the walking gait provided with RoboPlus.

http://robosavvy.com/Builders/Fritzoid/Choreonoid.zip
Fritzoid offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 331
Joined: Mon Dec 18, 2006 1:00 am

Post by Fritzoid » Tue Dec 04, 2012 7:21 pm

Post by Fritzoid
Tue Dec 04, 2012 7:21 pm

And if that's not enough... I've updated my MotionEdit program so that it can import Choreonoid position files. Now you can create a walking gait in Choreonoid and then convert it into a RoboPlus motion (.mtn) file! I can provide step-by-step directions if anybody it interested. You can find all the code for the Netbeans project in http://robosavvy.com/Builders/Fritzoid/MotionEdit.zip
And if that's not enough... I've updated my MotionEdit program so that it can import Choreonoid position files. Now you can create a walking gait in Choreonoid and then convert it into a RoboPlus motion (.mtn) file! I can provide step-by-step directions if anybody it interested. You can find all the code for the Netbeans project in http://robosavvy.com/Builders/Fritzoid/MotionEdit.zip
Fritzoid offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 331
Joined: Mon Dec 18, 2006 1:00 am

Post by wiweet » Wed Dec 05, 2012 3:47 am

Post by wiweet
Wed Dec 05, 2012 3:47 am

I'd really love to have those step by step direction Fritzoid, how can I get those?
I'd really love to have those step by step direction Fritzoid, how can I get those?
wiweet offline
Savvy Roboteer
Savvy Roboteer
Posts: 43
Joined: Fri Apr 15, 2011 2:50 am

Post by Fritzoid » Wed Dec 12, 2012 5:35 pm

Post by Fritzoid
Wed Dec 12, 2012 5:35 pm

Sorry for the delay in my response wiweet.

I've been unable to upload the updated archive due to size limitations, so I had to break the thing into two pieces.

To get the whole package you will now need to download http://robosavvy.com/Builders/Fritzoid/MotionEdit_dist.zip along with http://robosavvy.com/Builders/Fritzoid/MotionEdit.zip.

MotionEdit_dist.zip contains the distribution sub-directory only, with the necessary jar files to run the program. This other archive contains the source code and project files. Added to the source is a file called Choreonoid2RoboPlus.rtf which is the step-by-step directions I promised you.
Sorry for the delay in my response wiweet.

I've been unable to upload the updated archive due to size limitations, so I had to break the thing into two pieces.

To get the whole package you will now need to download http://robosavvy.com/Builders/Fritzoid/MotionEdit_dist.zip along with http://robosavvy.com/Builders/Fritzoid/MotionEdit.zip.

MotionEdit_dist.zip contains the distribution sub-directory only, with the necessary jar files to run the program. This other archive contains the source code and project files. Added to the source is a file called Choreonoid2RoboPlus.rtf which is the step-by-step directions I promised you.
Fritzoid offline
Savvy Roboteer
Savvy Roboteer
User avatar
Posts: 331
Joined: Mon Dec 18, 2006 1:00 am

Post by wiweet » Wed Dec 12, 2012 9:40 pm

Post by wiweet
Wed Dec 12, 2012 9:40 pm

Thank you very much Fritzoid, I'll try it right away. Hopefully I could post the result I have soon.
Thank you very much Fritzoid, I'll try it right away. Hopefully I could post the result I have soon.
wiweet offline
Savvy Roboteer
Savvy Roboteer
Posts: 43
Joined: Fri Apr 15, 2011 2:50 am

Walking

Post by UncleBob » Fri Dec 28, 2012 5:49 pm

Post by UncleBob
Fri Dec 28, 2012 5:49 pm

Robot Walking is an art. The principle is mentioned in my video. Eventhough the model is different the principle is the same.

Having said that each robot is slightly different this is where the art comes in. I normally have to manually check each frame slowly until they become smooth. One has to check how the robot is balanced during walking and then adjust it accordingly. It can be a pain when trying to improve it actually makes the whole gait unusable and need to start from the beginning.

When some servos aren't as quick as others then one would have to find ways to overcome it.

IK is cool but I don't believe it is the easiest way to make a biped robot walk.
Robot Walking is an art. The principle is mentioned in my video. Eventhough the model is different the principle is the same.

Having said that each robot is slightly different this is where the art comes in. I normally have to manually check each frame slowly until they become smooth. One has to check how the robot is balanced during walking and then adjust it accordingly. It can be a pain when trying to improve it actually makes the whole gait unusable and need to start from the beginning.

When some servos aren't as quick as others then one would have to find ways to overcome it.

IK is cool but I don't believe it is the easiest way to make a biped robot walk.
UncleBob offline
Savvy Roboteer
Savvy Roboteer
Posts: 398
Joined: Sun Dec 27, 2009 5:25 am


11 postsPage 1 of 1
11 postsPage 1 of 1