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INTRODUCTION TO MOTION GENERATION FOR NAO ROBOT USING ANDROID FRAMEWORK. Department: FTI-FHO-FPT Presenter: Pham Van Trung. OUTLINE. Introduction. 1. 2. Motor Stiffness Control. Joint Angle Control. 3. 4. Position Control. 5. Locomotion Control. Question and Comment. 6.
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INTRODUCTION TO MOTION GENERATION FOR NAO ROBOT USING ANDROID FRAMEWORK Department: FTI-FHO-FPT Presenter: Pham Van Trung
OUTLINE Introduction 1 2 • Motor Stiffness Control • Joint Angle Control 3 4 • Position Control 5 • Locomotion Control • Question and Comment 6
Introduction Robot Models
Introduction Humanoid robot • Have human model • Capable to perform as human
Introduction NAO Humanoid Robot
Introduction Motions of NAO Robot • How to move an arm or a leg to a position? • Forward kinematic • Inverse kinematic • How to locate a position of the robot?
Introduction NAO Motion Module on Android Framework Control Stiffness of Joint Motor Control Joint Angle Control Effector Position in Cartesian Coordinate Locomotion control
Stiffness Control • What is stiffness? • Basically, stiffness is a torque that a motor of joint can generate • Stiffness value relatively defined 0.0 to 1.0 • Functions to control and manage stiffness • Globally, on the whole robot using: • RobotMotionStiffnessController. wakeUp(Robot robot) • RobotMotionStiffnessController. rest (Robot robot) • Specifically, for one or several joint(s) using: • RobotMotionStiffnessController. stiffnessInterpolation(Robot robot, String[] names, float[] stiffnesses, float[] times) float[] • RobotMotionStiffnessController. getStiffnesses(Robot robot, String name ) • RobotMotionStiffnessController. setStiffnesses(Robot robot, String[] names, float[] stiffnesses)
Stiffness Control • Example Using setStiffnesses() • names–Name or names of joints or chains: “Body”, “JointActuators”, “Joints” or “Actuators”: HeadYaw, LShoulderPitch, LHipYawPitch, RHipYawPitch, RShoulderPitch, HeadPitch, LShoulderRoll, LHipRoll, RHipRoll, RShoulderRoll, LElbowYaw, LHipPitch, RHipPitch, RElbowYaw, LElbowRoll, LKneePitch, RKneePitch, RElbowRoll,LWristYaw, LAnklePitch, RAnklePitch, RWristYaw, LHand, RAnkleRoll, LAnkleRoll, RHand. • Stiffnesses,stiffnessLists, – An stiffness, list of stiffnesses or list of list of stiffnesses. Range of stiffness value is within [0.0,1.0];
Joint Control • What is joint control? • Rotate a joint motor by a exact given angle • Forward kinematic control • Functions to control joint angles • Animation methods (time fixed, blocking function • RobotMotionJointController. angleInterpolation(Robot robot, String[] names, float[] angles, float[] times, booleanisAbsolute) • RobotMotionJointController. angleInterpolationWithSpeed(Robot robot,String[] names, float[] angles, float fractionMaxSpeed) • Reactive methods (could be changed every ALMotion cycle, non blocking function) • RobotMotionJointController. setAngles (Robot robot, String[] names, float[] angles, float fractionMaxSpeed) • RobotMotionJointController. changeAngles(Robot robot, String[] names, float[] angles, float fractionMaxSpeed) • RobotMotionJointController. closeHand(Robot robot, String hand) • RobotMotionJointController. openHand(Robot robot, String hand)
Joint Control • Example Using angleInterpolation () • names – Name or names of joints, chains as mentioned in the section 1. • angles – An angle, list of angles or list of list of angles in radians that will be varied. Range of angle variation is within [-3.14,+3.14] depending on an allowable range of a chosen joint. See more about joint of hardware specification. • times – A time, list of times or list of list of times in seconds. It must be greater than zero. • isAbsolute – If true, the movement is described in absolute angles in the default defined coordinate , else the angles are relative to the current angle.
Cartesian Control • What is Cartesian control? • Move an effector (chain of joints) to a given position in a Cartesian coordinate • Dealing with inverse kinematic problem • Functions • Animation methods (time fixed, blocking function • RobotMotionCartesianController. positionInterpolation(Robot robot, String name, int space, RobotPosition6D[] positionList, intaxisMask, float[] durationList, booleanisAbsolute) • RobotMotionCartesianController. positionInterpolations(Robot robot, String[] names, intspaceForAll, RobotPosition6D[] positionList, int[] axisMaskList, float[] durationList, booleanisAbsolute) • Reactive methods (could be changed every ALMotion cycle, non blocking function) • RobotMotionCartesianController. setPosition(Robot robot, String name, int space, RobotPosition6D position, intaxisMask, float fractionMaxSpeed) • RobotMotionCartesianController. changePosition (Robot robot, String name, int space, RobotPosition6D positionChange, intaxisMask, float fractionMaxSpeed)
Cartesian Control • Example Using positionInterpolation () • Name – Name of the chain. Could be: “Head”, “LArm”, “RArm”, “LLeg”, “RLeg”. • space – Task space {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}. • positionList– Vector of 6D position arrays (x,y,z,wx,wy,wz) in meters and radians. • axisMask – Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for both. • durationList– Vector of times in seconds corresponding to the path points. • isAbsolute – If true, the movement is absolute else relative. • Robot – is a connected robot. This variable is retrieved by calling the function Robot. getRobot().
Locomotion Control • What is Locomotion control? • Move a robot in local place • Functions to manage walking • RobotMotionLocomotionController. moveTo(Robot robot, RobotMoveTargetPosition target) • RobotMotionLocomotionController. setWalkTargetVelocity(Robot robot, RobotMoveTargetPosition target, float speed) • RobotMotionLocomotionController. moveIsActive() • RobotMotionLocomotionController. stopMove() • RobotMotionLocomotionController. getRobotPosition(constbool& useSensors) • RobotMotionLocomotionController. getNextRobotPosition() • RobotMotionLocomotionController. getRobotVelocity()
Locomotion Control • Examples • SetWalkwithVelocity() • x – Fraction of MaxStepX. Use negative for backwards. [-1.0 to 1.0] • y – Fraction of MaxStepY. Use negative for right. [-1.0 to 1.0] • theta – Fraction of MaxStepTheta. Use negative for clockwise [-1.0 to 1.0] • Frequency – Fraction of MaxStepFrequency [0.0 to 1.0] • MoveTo() • x – Distance along the X axis in meters. • y – Distance along the Y axis in meters. • theta – Rotation around the Z axis in radians [-3.1415 to 3.1415].
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