sending loction to asti robot

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amitlo
Posts: 3
Joined: 17 Nov 2021, 11:52

sending loction to asti robot

Post by amitlo »

Hallo, i'm new in coppelia sim and doing a project in coppelia on the asti
robot.
For start i Successfully connected coppelia sim to matlab and mange to
control the robot.
Now i want to control asti position in coppelia by sending(via matlab) him
a loction (x,y,z) and he will get there.
Is there a way to do that?
Thank you very much!

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: sending loction to asti robot

Post by coppelia »

Hello,

this is not a trivial task for many reasons, the main being:
  • you will need to figure out the collision-free path from its current location to the goal location
  • you will then have to figure out the control commands to actuate the legs of the robot, in order to follow the planned path
The second task is the difficult task, since you have a biped robot. With a wheeled robot, you would simply have to appropriately control two motors (left and right wheel speed). On the Asti robot, there is currently no higher-level command interface that allows you to make it move in a straight line, rotate left or right (currently the walking movement is hard-coded).

Cheers

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