DASL Wiki

User Tools

Site Tools

Trace:
drexel_jaemi_hubo

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
drexel_jaemi_hubo [2016/11/06 13:26] – dwallacedrexel_jaemi_hubo [2023/06/08 23:09] (current) – [3D printing shells] ttran
Line 1: Line 1:
 ====== Jaemi HUBO ====== ====== Jaemi HUBO ======
  
-{{#ev:youtube|ll0rMcHXw9I}}\\ +{{youtube>ll0rMcHXw9I?large}}\\  
 + 
 +===== 3D printing shells ===== 
 +  * Tutorials: {{ ::jamie-hubo_shell_3d_printing_and_solidworks_recreation.pdf |}} 
 +  * Inventory: [[https://docs.google.com/spreadsheets/d/1u6UHnJ1XtFWTUfRkc8IrJKpliWGqgglOkiO_Sikml9U/edit#gid=0]]
  
 ===== Calibration ===== ===== Calibration =====
Line 17: Line 21:
   * Metal ruler   * Metal ruler
  
-<gallery> +{{dylanw:Hubo_Calibration_Tools.JPG}}\\  
-File:Hubo Calibration Tools.JPG|From left to right: long metal ruler, short metal ruler, liquid magnetic level, laser level. +From left to right: long metal ruler, short metal ruler, liquid magnetic level, laser level\\  
-File:Hubo Balance Plate.JPG|Hubo balance plate. + 
-</gallery>+{{dylanw:Hubo_Balance_Plate.JPG}}\\  
 +Hubo balance plate\\ 
  
 === Procedure === === Procedure ===
  
-{{dylanw:Hubo Key Fob.JPG}}\\ +{{dylanw:Hubo_Key_Fob.JPG}}\\ 
  
-<gallery> +{{dylanw:Hubo_Calibration_Stance.JPG}}\\  
-File:Hubo Calibration Stance.JPG|When calibrating the joints, make sure that the laser level is projecting perpendicular to the face of the joint. +When calibrating the joints, make sure that the laser level is projecting perpendicular to the face of the joint\\ 
-File:Hubo Calibration Stance Side.JPG|Side view aligning the hip, knee, and ankle pitch joints using the laser level. +
-File:Hubo Calibration Stance Front.JPG|Front view aligning the hip and ankle roll joints using the laser level. +
-File:Hubo Calibration Landmark.JPG|Use landmarks like holes to align the joints of the lower body. +
-File:Hubo Calibration Ruler.JPG|Use the metal ruler to check the yaw alignment of the lower body. The ruler will be flush with both limbs if the yaw is properly calibrated. +
-</gallery>+
  
-Follow the steps of powering on the Jaemi Hubo in the [[{{PAGENAME}}#Basic Operating Procedure|proceeding section]] up to [[{{PAGENAME}}#Zeroing the Jaemi Hubo's Joints|zeroing the joints]]. Make sure that the robot is lifted off the ground before attempting to move any joints.+{{dylanw:Hubo_Calibration_Stance_Side.JPG}}\\  
 +Side view aligning the hip, knee, and ankle pitch joints using the laser level\\  
 + 
 +{{dylanw:Hubo_Calibration_Stance_Front.JPG}}\\  
 +Front view aligning the hip and ankle roll joints using the laser level\\  
 + 
 +{{dylanw:Hubo_Calibration_Landmark.JPG}}\\  
 +Use landmarks like holes to align the joints of the lower body\\  
 + 
 +{{dylanw:Hubo_Calibration_Ruler.JPG}}\\  
 +Use the metal ruler to check the yaw alignment of the lower body. The ruler will be flush with both limbs if the yaw is properly calibrated\\  
 + 
 +Follow the steps of powering on the Jaemi Hubo in the [[drexel_jaemi_hubo#basic_operating_procedure|proceeding section]] up to [[drexel_jaemi_hubo#zeroing_jaemi_hubo_s_joints|zeroing the joints]]. Make sure that the robot is lifted off the ground before attempting to move any joints.
  
 {{dylanw:Calibration Lower Body GUI Window Highlight.png}}\\  {{dylanw:Calibration Lower Body GUI Window Highlight.png}}\\ 
Line 61: Line 73:
  
 Column values: Column values:
-#Gear ratio of harmonic drive (e.g. 100 to 1, 160 to 1) + 
-#Driving gear (number of gear/belt teeth) +  * Gear ratio of harmonic drive (e.g. 100 to 1, 160 to 1) 
-#Driven gear (number of gear/belt teeth) +  * Driving gear (number of gear/belt teeth) 
-#Ticks of encoder per revolution (e.g. 4000, 1024) +  * Driven gear (number of gear/belt teeth) 
-#Rotation offset (full revolutions)  +  * Ticks of encoder per revolution (e.g. 4000, 1024) 
-**Edit to calibrate home position** +  * Rotation offset (full revolutions) **Edit to calibrate home position** 
-#Rotation offset (sub-revolutions, direction) **Edit to calibrate home position** +  * Rotation offset (sub-revolutions, direction) **Edit to calibrate home position** 
-#Number of revolutions to search for zero +  * Number of revolutions to search for zero 
-#Motor direction+  * Motor direction
  
 Row values: Row values:
-#RHY (Right Hip Yaw) +  * RHY (Right Hip Yaw) 
-#RHR (Right Hip Roll) +  * RHR (Right Hip Roll) 
-#RHP (Right Hip Pitch) +  * RHP (Right Hip Pitch) 
-#RKN (Right Knee Pitch) +  * RKN (Right Knee Pitch) 
-#RAP (Right Ankle Pitch) +  * RAP (Right Ankle Pitch) 
-#RAR (Right Ankle Roll) +  * RAR (Right Ankle Roll) 
-#LHY (Left Hip Yaw) +  * LHY (Left Hip Yaw) 
-#LHR (Left Hip Roll) +  * LHR (Left Hip Roll) 
-#LHP (Left Hip Pitch) +  * LHP (Left Hip Pitch) 
-#LKN (Left Knee Pitch) +  * LKN (Left Knee Pitch) 
-#LAP (Left Ankle Pitch) +  * LAP (Left Ankle Pitch) 
-#LAR (Left Ankle Roll) +  * LAR (Left Ankle Roll) 
-#RSP (Right Shoulder Pitch) +  * RSP (Right Shoulder Pitch) 
-#RSR (Right Shoulder Roll) +  * RSR (Right Shoulder Roll) 
-#RSY (Right Shoulder Yaw) +  * RSY (Right Shoulder Yaw) 
-#REB (Right Elbow Pitch) +  * REB (Right Elbow Pitch) 
-#RWY (Right Wrist Yaw) +  * RWY (Right Wrist Yaw) 
-#RW1 (Right Wrist Coupled Pitch/Roll Motor #1) +  * RW1 (Right Wrist Coupled Pitch/Roll Motor #1) 
-#RW2 (Right Wrist Coupled Pitch/Roll Motor #2) +  * RW2 (Right Wrist Coupled Pitch/Roll Motor #2) 
-#LSP (Left Shoulder Pitch) +  * LSP (Left Shoulder Pitch) 
-#LSR (Left Shoulder Roll) +  * LSR (Left Shoulder Roll) 
-#LSY (Left Shoulder Yaw) +  * LSY (Left Shoulder Yaw) 
-#LEB (Left Elbow Pitch) +  * LEB (Left Elbow Pitch) 
-#LWY (Left Wrist Yaw) +  * LWY (Left Wrist Yaw) 
-#LW1 (Left Wrist Coupled Pitch/Roll Motor #1) +  * LW1 (Left Wrist Coupled Pitch/Roll Motor #1) 
-#LW2 (Left Wrist Coupled Pitch/Roll Motor #2) +  * LW2 (Left Wrist Coupled Pitch/Roll Motor #2) 
-#WST (Waist Yaw) +  * WST (Waist Yaw) 
-#NKY (Neck Yaw) +  * NKY (Neck Yaw) 
-#NK1 (Neck Coupled Pitch/Roll Motor #1) +  * NK1 (Neck Coupled Pitch/Roll Motor #1) 
-#NK2 (Neck Coupled Pitch/Roll Motor #2)+  * NK2 (Neck Coupled Pitch/Roll Motor #2)
  
 ===== Basic Operating Procedure ===== ===== Basic Operating Procedure =====
Line 139: Line 151:
 Open a remote desktop application. To use RDC under Windows, go to: Open a remote desktop application. To use RDC under Windows, go to:
  
-Start -> run -> "mstsc.exe" (Windows XP or later)+Start -> run -> "mstsc.exe" (Windows XP or later)\\ 
 Start -> Search -> "remote desktop connection" (Windows Vista or later) Start -> Search -> "remote desktop connection" (Windows Vista or later)
  
 Log into the robot using the following credentials: Log into the robot using the following credentials:
  
-User: hubo +**User:** hubo\\  
-Login: #@^#.. (SHIFT + 3263..)+**Login:** #@^#.. (SHIFT + 3263..)\\ 
  
 Once logged in, wait for the desktop to load. Once logged in, wait for the desktop to load.
Line 203: Line 215:
 Wait for the program to communicate with the motor drivers and sensor boards. If CAN communication is successful, the dialog box will return the following message. Wait for the program to communicate with the motor drivers and sensor boards. If CAN communication is successful, the dialog box will return the following message.
  
-{{Quote box +  0th JMC Board is ready for 10 msec Int. time. 
-|quote  = 0th JMC Board is ready for 10 msec Int. time.<br/> +  1th JMC Board is ready for 10 msec Int. time. 
-1th JMC Board is ready for 10 msec Int. time.<br/> +  2th JMC Board is ready for 10 msec Int. time. 
-2th JMC Board is ready for 10 msec Int. time.<br/> +  3th JMC Board is ready for 10 msec Int. time. 
-3th JMC Board is ready for 10 msec Int. time.<br/> +  4th JMC Board is ready for 10 msec Int. time. 
-4th JMC Board is ready for 10 msec Int. time.<br/> +  5th JMC Board is ready for 10 msec Int. time. 
-5th JMC Board is ready for 10 msec Int. time.<br/> +  6th JMC Board is ready for 10 msec Int. time. 
-6th JMC Board is ready for 10 msec Int. time.<br/> +  7th JMC Board is ready for 10 msec Int. time. 
-7th JMC Board is ready for 10 msec Int. time.<br/> +  8th JMC Board is ready for 10 msec Int. time. 
-8th JMC Board is ready for 10 msec Int. time.<br/> +  9th JMC Board is ready for 10 msec Int. time. 
-9th JMC Board is ready for 10 msec Int. time.<br/> +  10th JMC Board is ready for 10 msec Int. time. 
-10th JMC Board is ready for 10 msec Int. time.<br/> +  11th JMC Board is ready for 10 msec Int. time.
-11th JMC Board is ready for 10 msec Int. time.<br/> +
-<nowiki>~~~~~~~~~~~~~~~~~~~~</nowiki>+
  
-0th EJMC Board is ready for 10 msec Int. time.<br/> +  0th EJMC Board is ready for 10 msec Int. time. 
-1th EJMC Board is ready for 10 msec Int. time.<br/> +  1th EJMC Board is ready for 10 msec Int. time. 
-2th EJMC Board is ready for 10 msec Int. time.<br/> +  2th EJMC Board is ready for 10 msec Int. time. 
-3th EJMC Board is ready for 10 msec Int. time.<br/> +  3th EJMC Board is ready for 10 msec Int. time. 
-4th EJMC Board is ready for 10 msec Int. time.<br/> +  4th EJMC Board is ready for 10 msec Int. time. 
-5th EJMC Board is ready for 10 msec Int. time.<br/> +  5th EJMC Board is ready for 10 msec Int. time.
-<nowiki>~~~~~~~~~~~~~~~~~~~~</nowiki>+
  
-0th Sensor Board is ready.<br/> +  0th Sensor Board is ready. 
-1th Sensor Board is ready.<br/> +  1th Sensor Board is ready. 
-2th Sensor--------<br/> +  2th Sensor Board is ready. 
-3th Sensor Board is ready.<br/> +  3th Sensor Board is ready. 
-4th Sensor Board is ready.<br/> +  4th Sensor Board is ready. 
-6th Sensor-------- +  6th Sensor Board is ready.
-}}+
  
 === Click OK on the Motor Controller/Sensor Check Screen === === Click OK on the Motor Controller/Sensor Check Screen ===
Line 239: Line 247:
 ==== Zeroing the Jaemi Hubo's Joints ==== ==== Zeroing the Jaemi Hubo's Joints ====
  
-Zeroing the joints of the Jaemi Hubo references the motion of the joint to a mechanical landmark (switch) on each joint. Before using the Jaemi Hubo, the joints must be properly [[{{PAGENAME}}#Calibration|calibrated]].+Zeroing the joints of the Jaemi Hubo references the motion of the joint to a mechanical landmark (switch) on each joint. Before using the Jaemi Hubo, the joints must be properly [[drexel_jaemi_hubo#Calibration|calibrated]].
  
 === Click ZPhase === === Click ZPhase ===
Line 297: Line 305:
 {{dylanw:Tilt Read Dialog Box.png}}\\  {{dylanw:Tilt Read Dialog Box.png}}\\ 
  
-The *Tilt Read** dialog window will open.+The **Tilt Read** dialog window will open.
  
 === Make sure the values are correct === === Make sure the values are correct ===
Line 330: Line 338:
 ==== Walking and basic gestures ==== ==== Walking and basic gestures ====
  
-The following few steps must be take to complete the setup phase to run the Jaemi Hubo and enable waling and gestures. Further walking commands are covered in the [[{{PAGENAME}}#Walking |walking section]] of the tutorial.+The following few steps must be take to complete the setup phase to run the Jaemi Hubo and enable waling and gestures. Further walking commands are covered in the [[drexel_jaemi_hubo#walking|walking section]] of the tutorial.
  
 === Click "Kirk Walking" in the Main Menu === === Click "Kirk Walking" in the Main Menu ===
  
-=== Click "Walk In Place"" in the Kirk Walking Dialog box ===+=== Click "Walk In Place" in the Kirk Walking Dialog box ===
  
 The Jaemi Hubo will begin stepping in place. This routine sets flags within the program that will enable walking and other gestures to be performed later. The Jaemi Hubo will begin stepping in place. This routine sets flags within the program that will enable walking and other gestures to be performed later.
Line 344: Line 352:
 ===== Walking ===== ===== Walking =====
  
-Before attempting to run any walking routines, please make sure that the walking in place routine in the [[{{PAGENAME}}#Walking and basic gestures|preceding section]] has been run. Also, please make sure to allow sufficient slack in the hoist cables and power cord when walking or performing any gestures.+Before attempting to run any walking routines, please make sure that the walking in place routine in the [[drexel_jaemi_hubo#walking_and_basic_gestures|preceding section]] has been run. Also, please make sure to allow sufficient slack in the hoist cables and power cord when walking or performing any gestures.
  
-In the Kirk walking dialog window, the buttons **Walk Ready** and **Home** set the posture of the Jaemi Hubo to the crouched walking position and the upright standing position, respectively. The Jaemi Hubo will be set to the crouched walking pose by default [[{{PAGENAME}}#Zeroing the IMU, FT-Sensors|during calibration]]. Please be sure that the Jaemi Hubo is in this position before attempting to run any walking routines.+In the Kirk walking dialog window, the buttons **Walk Ready** and **Home** set the posture of the Jaemi Hubo to the crouched walking position and the upright standing position, respectively. The Jaemi Hubo will be set to the crouched walking pose by default [[drexel_jaemi_hubo#Zeroing_the_IMU_FT-Sensors|during calibration]]. Please be sure that the Jaemi Hubo is in this position before attempting to run any walking routines.
  
 When a walking routine is running, all other buttons in the window will be disabled except for the **Stop** button. Routines will loop continuously unless prompted to terminate. Press the **Stop** button to end any routine currently running and wait until the robot is stationary before attempting to begin another routine. When a walking routine is running, all other buttons in the window will be disabled except for the **Stop** button. Routines will loop continuously unless prompted to terminate. Press the **Stop** button to end any routine currently running and wait until the robot is stationary before attempting to begin another routine.
Line 352: Line 360:
 ==== Walking in Place ==== ==== Walking in Place ====
  
-Walking in place is a necessary step in completing the initial setup to run the robot as described in the [[{{PAGENAME}}#Walking and basic gestures|preceding section]]. Make sure that the robot is stationary before pressing **Walk in place**. Once pressed, the robot will continuously step in place. Press **Stop** to terminate the routine.+Walking in place is a necessary step in completing the initial setup to run the robot as described in the [[drexel_jaemi_hubo#Walking_and_basic_gestures|preceding section]]. Make sure that the robot is stationary before pressing **Walk in place**. Once pressed, the robot will continuously step in place. Press **Stop** to terminate the routine.
  
 ==== Walking Forward and Backward ==== ==== Walking Forward and Backward ====
Line 358: Line 366:
 The buttons **GO_FWD** and **GO_BWD** command the Jaemi Hubo to walk forward and walk backward, respectively. Make sure the robot is stationary before pressing either **GO_FWD** or **GO_BWD**. The robot will continuously move in the desired direction until the **Stop** button is pressed. The buttons **GO_FWD** and **GO_BWD** command the Jaemi Hubo to walk forward and walk backward, respectively. Make sure the robot is stationary before pressing either **GO_FWD** or **GO_BWD**. The robot will continuously move in the desired direction until the **Stop** button is pressed.
  
-The step length can be changed by changing the value in the *Step Length** text field.  The default value is 150 mm.+The step length can be changed by changing the value in the **Step Length** text field.  The default value is 150 mm.
  
 ==== Side-Stepping ==== ==== Side-Stepping ====
drexel_jaemi_hubo.1478467562.txt.gz · Last modified: 2016/11/06 13:26 by dwallace