bipedal robot

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efrianto
Posts: 23
Joined: 14 Nov 2014, 10:00

Re: bipedal robot

Post by efrianto » 15 Dec 2014, 09:21

Could anyone help me please?

coppelia
Site Admin
Posts: 7680
Joined: 14 Dec 2012, 00:25

Re: bipedal robot

Post by coppelia » 16 Dec 2014, 00:05

It is very difficult to understand what you want to achieve, how you want to do it, and what your program is doing. If possible, try to tackle one problem at a time, starting with small problems. Questions should be as short and simple as possible like:
  • How do I exchange data between two scripts
  • How to write data to a file
  • How do I import a shape
  • etc.
The same for code. When posting code, show us only the part that gives you an error. Or that doesn't work. It is very difficult and time consuming to read through another person's code, and to understand what is going on and to correct it.

It seems to me that you should start with smaller tasks, or smaller, less complex robots or mechanisms. Otherwise you will run in a lot of trouble and waste a lot of time.

Cheers

efrianto
Posts: 23
Joined: 14 Nov 2014, 10:00

Re: bipedal robot

Post by efrianto » 17 Dec 2014, 13:50

could I have the email contact of Lyall Randell, the one who made hexapod in V-Rep? I want to ask about his program, thank you very much

coppelia
Site Admin
Posts: 7680
Joined: 14 Dec 2012, 00:25

Re: bipedal robot

Post by coppelia » 18 Dec 2014, 01:03

Lyall Randell is the author of the CAD data (the 3D model). The actual V-REP robot model was done by us.

Cheers

tranthienhuan
Posts: 4
Joined: 22 Dec 2014, 18:58

Re: bipedal robot

Post by tranthienhuan » 23 Dec 2014, 15:39

coppelia wrote:Lyall Randell is the author of the CAD data (the 3D model). The actual V-REP robot model was done by us.

Cheers
Dear Coppelia,
I just have to do manually model biped small and write code for it to walk.
http://i1121.photobucket.com/albums/l51 ... 322391.png

I want to import this model in vrep. Can you guide me how to do it?

Thank you,
Huan.

coppelia
Site Admin
Posts: 7680
Joined: 14 Dec 2012, 00:25

Re: bipedal robot

Post by coppelia » 26 Dec 2014, 11:40

Hello Huan,

what file format do you have your robot CAD model in?
In order to import CAD data, have a look here. Then, make sure to follow a few tutorials, and also carefully read this section.

Cheers

tranthienhuan
Posts: 4
Joined: 22 Dec 2014, 18:58

Re: bipedal robot

Post by tranthienhuan » 26 Dec 2014, 13:05

Dear Coppelia,

Thank you for your guidance.

I do this biped by hand, then I used a genetic algorithm to optimize the parameters of gait for biped based on ZMP criterion. Since then I used the parameters set to perform controlled biped walking through the inverse kinematics problem by geometric methods.

I will render this model in CAD and I will follow your instructions. In the process I take if I have trouble looking forward to your further instructions.

Happy new year 2015,
Huân.

efrianto
Posts: 23
Joined: 14 Nov 2014, 10:00

Re: bipedal robot

Post by efrianto » 31 Dec 2014, 06:56

Dear Tranthienhuan,
Do you success to make your bipedal robot walk in V-REP simulation? If you're success i want to ask to you because i have difficulty to make the bipedal robot walk in V-REP simulation

Thank you very much,
Efrianto

efrianto
Posts: 23
Joined: 14 Nov 2014, 10:00

Re: bipedal robot

Post by efrianto » 31 Dec 2014, 08:06

Dear Coppelia,

I have studied hexapod examples for the past 2 weeks, but i still have problem to understand the program code. i have already compare it with the ant hexapod but i still don't understand because the program is look similar between both hexapod and ant robot.

Now i want to ask about this part in the child script of hexapod

Code: Select all

sp=(stepProgression+(legMovementIndex[leg]-1)/2) % 1
	offset={0,0,0}
	if (sp<(1/3)) then
		offset[1]=sp*3*stepAmplitude/2
	else
		if (sp<(1/3+1/6)) then
			s=sp-1/3
			offset[1]=stepAmplitude/2-stepAmplitude*s*6/2
			offset[3]=s*6*stepHeight
		else
			if (sp<(2/3)) then
				s=sp-1/3-1/6
				offset[1]=-stepAmplitude*s*6/2
				offset[3]=(1-s*6)*stepHeight
			else
				s=sp-2/3
				offset[1]=-stepAmplitude*(1-s*3)/2
can u help me to explain the if condition there? from where the number (1/3 + 1/6) and so on. because i must to know it to make another program for my bipedal robot.

thank you very much,
efrianto

tranthienhuan
Posts: 4
Joined: 22 Dec 2014, 18:58

Re: bipedal robot

Post by tranthienhuan » 31 Dec 2014, 14:50

Dear Coppelia and Efrianto,

I hope you are doing well. I would like to wish you and your family a smashing New Year 2015.

Sincerely,
Huan.

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