Introduction to Webots

1. Introduction to Webots 2005.08.24

2. Outlines • Introduction • World Description • Controller Programming • A Kiki Example

3. Introduction • Installation • Download Webots Software http://www.cyberbotics.com/products/webots/download.html • Double click on the webots-4.0.27_setup.exe • Follow the installation instructions

4. Introduction • Installation • Create user directory that contains three subdirectories where Webots will look for files. • World • Controller • Objects

5. Introduction • Descriptions of Webots • Features • Webots is a mobile robot simulation software • Webots allows users to create 3D virtual worlds with physical properties. • A number of sensor and actuator devices can be equipped to different robots. • The user can program each robot individually to exhibit a desired behavior.

6. Introduction • Descriptions of Webots • Applications • Mobile Robot Prototyping • Multi-agent Research • Adaptive Behavior Research • Mobile Robotics Teaching

7. Introduction

8. Introduction

9. Introduction

10. Introduction • Components of Webots • World • A world is a 3D virtual environment where you can create objects and robots. • A world is a hierarchical structure • Controller • Controller is a program to control the robot • Controller may be executable (.exe) or Java binary files (.class).

11. World Description • World Coordinate

12. World Description • World Structure • A world is composed of a list of nodes, each containing fields. • Fields can contain values or nodes.

13. World Description • Construction Tools • Scene Tree Window

14. void reset(void){ • ….. • } • int run(int ms){ • …..; • return 64; • } Controller Programming • Program Framework • int main(void){ robot_live(reset); robot_run(run) } /* End of main-body */

15. Controller Programming • Programming Tools • Dev C++ • Visual C++ • Java Development Kit (JDK) • Library • <install dir>\controller.dll

16. Kiki Example

17. Kiki Example • World Construction • PointLight Insertion • Wall Building • Robot Modeling

18. Kiki Example • World Construction • PointLight Insertion

19. Kiki Example • World Construction • Wall Building

20. Kiki Example • World Construction • Wall Building

21. Kiki Example • World Construction • Robot Modeling

22. Kiki Example • World Construction • Robot Modeling

23. Kiki Example • World Construction • Robot Modeling (Body)

24. Kiki Example • World Construction • Robot Modeling (Wheel)

25. Kiki Example • World Construction • Robot Modeling (Sensor)

26. Kiki Example • Controller Programming • static DeviceTag ir0, ir1; • void reset (void){ ir0 = robot_get_device(“ir0”); ir1 = robot_get_device(“ir1”); distance_sensor_enable(ir0, 64); distance_sensor_enable(ir1, 64); }/* End of reset */

27. Kiki Example • Controller Programming • int run (int ms){ short leftspeed, rightspeed; int value0, value1; value0 = distance_sensor_get_value(ir0); value1 = distance_sensor_get_value(ir1); leftspeed = …….; Rightspeed = …..; differential_wheels_set_speed(leftspeed, rightspeed); return 64; }/* End of run */

28. Kiki Example • Control Setting • Compile the program • Save the kiki.exe to control directory • Set controller to “kiki”

29. Reference • Webots User Guide • Webots Reference Manual