Author: Dylan Wallace Email: wallad3@unlv.nevada.edu
Date: Last modified on 01/12/17
Keywords: Humanoid, HUBO, Hardware, Real-World, PODO
This tutorial is designed to teach DASL members about how to operate the Real-World HUBO, and how you can use the private PODO GUI.
In order to use HUBO in the real-world, we will use an older version of PODO. This can be found on the main HUBO motion PC.
1. Connect the proper cables to the motion PC
a. Mini-HDMI and power connector in back, USB extension in front, and grey USB in front b. Two black USBs in back, the one labeled "Up" goes into the top port, the other into the bottom
2. Follow the startup procedure described in the Hardware Tutorial
3. Run the daemon and GUI individually, since there is no launcher in this version of PODO
4. Perform a CAN check, using the button located above the joint diagram
5. Use the “Find Home” button to calibrate the motors to the proper positions
6. Use the “Sensor Panel” button, located near the top left corner of the HUBO simulator, to open the panel. Go to the sensor control panel
a. Enable b. FT NULL c. IMU NULL d. FOG Zero e. FOG NULL
7. Open the Freewalking and Walkready ALs (and Omniwheel if needed)
8. Use “Ref. Enable” button to enable the joint reference angle. DO NOT operate ALs before doing this
DO NOT use "Ref. Enable" if the simulator HUBO is in a different position than real HUBO.
Now you are able to operate HUBO using any ALs that you may need.
1. Go to the home position
2. Use the “Ref. Disable” button
3. Use the “Disable” button in the Sensor Control panel
4. Close all AL's
5. Stop the GUI and Daemon
6. Follow the shutdown procedure described in the Hardware Tutorial
7. Disconnect all cables from the motion PC
This tutorial's objective was to teach the concepts behind using DRC-HUBO in a real-world environment. Complete operation instructions for using DRC-HUBO were provided. Once the concepts were conveyed the reader could successfully operate real-world DRC-HUBO.
For questions, clarifications, etc, Email: wallad3@unlv.nevada.edu