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2 +<body><table border="0" cellpadding="0" cellspacing="0" >
3 + <tbody><tr>
4 + <td valign="top" align="left"><b><font face="Verdana" size="2">Biped BRAT Autonomous Tutorial.</font></b>
5 + <p><b><font face="Verdana" size="2">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->
6 + <!-- #BeginDate format:Am3 -->12/20/2011<!-- #EndDate -->
7 + </font></b></p>
8 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
9 + <p><font face="Verdana" size="2"><b>Note:</b> This tutorial uses the Bot Board II, BASIC Atom Pro 28, a Sharp GP2D12 sensor, and a Buffered
10 + 2-Axis Accelerometer (DE-11).</font></p>
11 + <p><font face="Verdana" size="2"><b>Software:</b><br>
12 + &nbsp;&nbsp;- <a href="http://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl" target="_blank">BASIC Micro Studio</a><br>
13 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratosf3.zip">BRAT Servo Offset Finder
14 + Program v3</a> (09/16/09)<br>
15 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat1.zip">Autonomous Walk Code</a>
16 + (09/16/09)<br>
17 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat2.zip">Autonomous GP2D12 Code</a>
18 + (09/16/09)<br>
19 + &nbsp; -- Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/avoid01.mpg">Avoiding an obstacle (mpg)</a><br>
20 + &nbsp; -- Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/break01.mpg">Taking a break (mpg)</a><br>
21 + &nbsp; -- Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/walkaway.mpg">Demonstrating proximity beeps (mpg)</a><br>
22 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat3.zip">Autonomous 1-Axis Accelerometer Code</a>
23 + (09/16/09)<br>
24 + &nbsp; -- Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup01.mpg">Getting up front and back (mpg)</a><br>
25 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat4.zip">Autonomous 2-Axis Accelerometer Code</a>
26 + (09/16/09)<br>
27 + &nbsp; -- Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup02.mpg">Getting up front and side (mpg)</a></font></p></td>
28 + <td align="center" valign="top" width="320"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat00.jpg" border="2" hspace="10" ><br>
29 + <strong>Image of Biped BRAT.</strong></font></td>
30 + </tr>
31 + <tr>
32 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
33 + </tr>
34 + <tr>
35 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br>
36 + Make sure your servos are plugged into the appropriate channels, as shown in Table 1.</font>
37 + <p><font face="Verdana" size="2">*Note, P9 is used by the speaker, so we can't plug a servo in there.</font></p></td>
38 + <td align="left" valign="top" >
39 + <div align="center">
40 + <center>
41 + <table border="1" bordercolor="#FFFFFF" >
42 + <tbody><tr>
43 + <td >
44 + <div align="center">
45 + <table border="1" bordercolor="#000000" >
46 + <tbody><tr>
47 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Bot Board I/O</b></font></td>
48 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Connection</b></font></td>
49 + </tr>
50 + <tr>
51 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P4</font></td>
52 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Ankle</font></td>
53 + </tr>
54 + <tr>
55 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P5</font></td>
56 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Knee</font></td>
57 + </tr>
58 + <tr>
59 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P6</font></td>
60 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Hip</font></td>
61 + </tr>
62 + <tr>
63 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P7</font></td>
64 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Ankle</font></td>
65 + </tr>
66 + <tr>
67 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P8</font></td>
68 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Knee</font></td>
69 + </tr>
70 + <tr>
71 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P10</font></td>
72 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Hip</font></td>
73 + </tr>
74 + </tbody></table>
75 + </div></td>
76 + </tr>
77 + <tr>
78 + <td bordercolor="#FFFFFF">
79 + <p align="center"><font face="Verdana" size="2">Table 1.</font></p></td>
80 + </tr>
81 + </tbody></table>
82 + </center></div>
83 + </td>
84 + </tr>
85 + <tr>
86 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
87 + </tr>
88 + <tr>
89 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 2.</b><br>
90 + Make sure the Bot Board's jumpers are set according to Table 2.</font>
91 + <p><font face="Verdana" size="2">Refer to Figure 2 for help with jumper settings.</font></p>
92 + <p><font face="Verdana" size="2">*Note, the VS to AX0 jumper enables the program to monitor the servo battery voltage. When the battery is low,
93 + the robot can beep in warning.</font></p></td>
94 + <td align="left" valign="top" >
95 + <div align="center">
96 + <center>
97 + <table border="1" bordercolor="#FFFFFF" >
98 + <tbody><tr>
99 + <td >
100 + <div align="center">
101 + <table border="1" bordercolor="#000000" >
102 + <tbody><tr>
103 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="1"><b>Bot Board II
104 + Jumper Settings</b></font></td>
105 + </tr>
106 + <tr>
107 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td>
108 +
109 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">A, B, and C buttons</font></td>
110 + </tr>
111 + <tr>
112 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">5v</font></td>
113 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">I/O Group 0-3</font></td>
114 + </tr>
115 + <tr>
116 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">VS</font></td>
117 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">I/O Groups 4-7 and 8-11</font></td>
118 + </tr>
119 + <tr>
120 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td>
121 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">SPKEN (Speaker Enable)</font></td>
122 + </tr>
123 + <tr>
124 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td>
125 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">VS (Servo Voltage) to AX0 (P16)</font></td>
126 + </tr>
127 + </tbody></table>
128 + </div></td>
129 + </tr>
130 + <tr>
131 + <td bordercolor="#FFFFFF">
132 + <p align="center"><font face="Verdana" size="2">Table 2.</font></p></td>
133 + </tr>
134 + </tbody></table>
135 + </center></div>
136 + </td>
137 + </tr>
138 + <tr>
139 + <td valign="top" align="left" colspan="2"><br class="pb">
140 + </td>
141 + </tr>
142 + <tr>
143 + <td valign="top" align="left" colspan="2">
144 + <p align="center"><font face="Verdana" size="2">&nbsp;<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/autobrat.gif" border="0" hspace="10"><br>
145 + Figure 2.</font></p>
146 + </td>
147 + </tr>
148 + <tr>
149 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
150 + </tr>
151 + <tr>
152 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
153 + Download and install the <a href="http://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl" target="_blank">BASIC Micro Studio</a>. Download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratosf3.zip">BRAT Servo Offset Finder program</a>, and load it into the IDE.</font>
154 + <p><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font></p>
155 + <ul>
156 + <li><font face="Verdana" size="2">Press A to decrease the servo offset by 5us.</font></li>
157 + <li><font face="Verdana" size="2">Press C to increase the servo offset by 5us.</font></li>
158 + <li><font face="Verdana" size="2">Press B to change which servo is being manipulated, and to
159 + save your offsets. The order of the
160 + program is shown in Figure 3.</font></li>
161 + </ul>
162 + <p><font face="Verdana" size="2">Note, if you have the Speaker enabled, when you press the B button you will hear a short tone. The tone will
163 + raise in pitch when you change from servo to servo, and will lower in pitch and be longer when you get back to Start.</font></p></td>
164 + <td align="left" valign="top" >
165 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratosf3.jpg" border="2" hspace="10" ><br>
166 + Figure 3.</font></p></td>
167 + </tr>
168 + <tr>
169 + <td valign="top" align="left" colspan="2"><br class="pb">
170 + </td>
171 + </tr>
172 + <tr>
173 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
174 + 4.</b><br>
175 + Place the robot in a position as close to neutral as possible, and turn it on. Your robot should go to and hold the neutral position, and should
176 + resemble figures 4-1 through 4-3. If the joints are off by more than 15° you may have made an error in assembly. To correct this, remove the
177 + center screw from the round servo horn, pull the servo horn off the servo, rotate until it's aligned, then reattach the servo horn.</font>
178 + <p><font face="Verdana" size="2">Use the A, B, and C buttons to straighten the BRAT as shown in Figures
179 + 4-1, 4-2, and 4-3.</font></p>
180 + <p><font face="Verdana" size="2">Note, if you are building the robot with HS-422 servos, you will notice the hip servos oscillate if the robot
181 + is lifted off the ground. This is normal, and is due to the lower power servo. When the robot is walking, the effects are minimal. Using a
182 + voltage that is higher than 6vdc will make the oscillations worse. When building a robot with more powerful servos such as HS-475,
183 + HS-485, or HS-645, you
184 + will not see this effect.</font></p>
185 + <p><font face="Verdana" size="2"><b>After you've cycled through the servos and adjusted them to match Figures
186 + 4-1 through 4-3, pressing the B button again will save your servo offset
187 + values to the Atom Pro's EEPROM.</b></font></p>
188 + </td>
189 + <td align="left" valign="top" >
190 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat10.jpg" border="2" hspace="10" ><br>
191 + Figure 4-1.</font></p></td>
192 + </tr>
193 + <tr>
194 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
195 + </tr>
196 + <tr>
197 + <td valign="top" align="left">
198 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat07.jpg" border="2" hspace="10" ><br>
199 + Figure 4-2.</font></p>
200 + </td>
201 + <td align="left" valign="top" >
202 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat04.jpg" border="2" hspace="10" ><br>
203 + Figure 4-3.</font></p></td>
204 + </tr>
205 + <tr>
206 + <td valign="top" align="left" colspan="2"><br class="pb">
207 + </td>
208 + </tr>
209 + <tr>
210 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step
211 + 5.</b><br>
212 + Now download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat1.zip">BRAT Autonomous Walk Code</a>, load it into the
213 + IDE, and program your BRAT.</font>
214 + <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to walk around! The autonomous walk program will make the BRAT
215 + follow this sequence: walk, walk, walk, turn, long-stride, long-stride, kick, turn, stop.</font></p>
216 + <p><font face="Verdana" size="2">To change the behavior of your robot, you can modify the code below the label "main" and above the
217 + label "move". You can also create sequences following the format shown in the code below the label "move". We will provide
218 + several more code examples including common sensors.</font></p></td>
219 + </tr>
220 + <tr>
221 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
222 + </tr>
223 + <tr>
224 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
225 + 6.</b><br>
226 + Use double-sided tape to attach the GP2D12 sensor to the BRAT's head area. The exact position doesn't matter too much, as long as the sensor is
227 + facing toward the front of the robot.</font>
228 + <p><font face="Verdana" size="2">Plug the sensor in to the channel shown in the following table.</font></p>
229 + <div align="center">
230 + <center>
231 + <table border="1" bordercolor="#FFFFFF" >
232 + <tbody><tr>
233 + <td >
234 + <div align="center">
235 + <table border="1" bordercolor="#000000" >
236 + <tbody><tr>
237 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Bot Board I/O</b></font></td>
238 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Connection</b></font></td>
239 + </tr>
240 + <tr>
241 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P19 (AX3)</font></td>
242 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">GP2D12 Sensor</font></td>
243 + </tr>
244 + </tbody></table>
245 + </div></td>
246 + </tr>
247 + <tr>
248 + <td bordercolor="#FFFFFF">
249 + <p align="center"><font face="Verdana" size="2">Table 6.</font></p></td>
250 + </tr>
251 + </tbody></table>
252 + </center></div>
253 + </td>
254 + <td align="left" valign="top" >
255 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratsens.jpg" border="2" hspace="10" ><br>
256 + Figure 6.</font></p></td>
257 + </tr>
258 + <tr>
259 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
260 + </tr>
261 + <tr>
262 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step
263 + 7.</b><br>
264 + Now download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat2.zip">BRAT Autonomous GP2D12 Code</a>, load it into the
265 + IDE, and program your BRAT.</font>
266 + <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to roam without bumping into anything! We also added a
267 + "behavior" looping counter so the robot will periodically go into a resting position. You can edit the pauses to change how long it
268 + rests and you can change the value of the looping counter to change how often it rests. The GP2D12 sensor is read before each step when the
269 + robot is walking forward. You will hear a short low beep if nothing is detected. If an object is detected, the beep raises in pitch depending on
270 + how close the object is. When the object is about 8" away, the robot will back up one step, turn left two steps, then continue forward. The
271 + code also illuminates LEDs depending on which command is being processed.</font></p>
272 + <p><font face="Verdana" size="2">Check out these videos:<br>
273 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/avoid01.mpg">Avoiding an obstacle (mpg)</a><br>
274 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/break01.mpg">Taking a break (mpg)</a><br>
275 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/walkaway.mpg">Demonstrating proximity beeps (mpg)</a></font></p></td>
276 + </tr>
277 + <tr>
278 + <td valign="top" align="left" colspan="2"><br class="pb">
279 + </td>
280 + </tr>
281 + <tr>
282 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
283 + 8.</b><br>
284 + Use double-sided tape to attach the accelerometer sensor to the BRAT's head area. With the accelerometer, the sensor's <i>physical position</i>
285 + isn't as important as the <i>axis orientation</i>. Make sure you follow the orientation shown in Figure
286 + 8.</font>
287 + <p><font face="Verdana" size="2">Plug the sensor in to the channel shown in the following table.</font></p>
288 + <div align="center">
289 + <center>
290 + <table border="1" bordercolor="#FFFFFF" >
291 + <tbody><tr>
292 + <td >
293 + <div align="center">
294 + <table border="1" bordercolor="#000000" >
295 + <tbody><tr>
296 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Bot Board I/O</b></font></td>
297 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Connection</b></font></td>
298 + </tr>
299 + <tr>
300 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P17 (AX1)</font></td>
301 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Accelerometer Sensor - Y Axis<br>
302 + (Used for Front-to-back tilt)</font></td>
303 + </tr>
304 + <tr>
305 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P18 (AX2)</font></td>
306 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Accelerometer Sensor - X Axis<br>
307 + (Used for Side-to-side tilt)</font></td>
308 + </tr>
309 + </tbody></table>
310 + </div></td>
311 + </tr>
312 + <tr>
313 + <td bordercolor="#FFFFFF">
314 + <p align="center"><font face="Verdana" size="2">Table 8.</font></p></td>
315 + </tr>
316 + </tbody></table>
317 + </center></div>
318 + </td>
319 + <td align="left" valign="top" >
320 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratacc.jpg" border="2" hspace="10" ><br>
321 + Figure 8.</font></p></td>
322 + </tr>
323 + <tr>
324 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
325 + </tr>
326 + <tr>
327 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step
328 + 9.</b><br>
329 + Now download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat3.zip">BRAT Autonomous 1-Axis Accelerometer Code</a>, load it into the
330 + IDE, and program your BRAT.</font>
331 + <p><font face="Verdana" size="2"><i>For this program, we are only&nbsp;using the values from the Y Axis.</i> The Y Axis measures the
332 + front-to-back tilt, so the BRAT can tell when it has fallen onto its back or front. We will incorporate the X Axis in a later program.</font></p>
333 + <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to roam without bumping into anything, and get back up if it falls!</font></p>
334 + <p><font face="Verdana" size="2">Check out this video:<br>
335 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup01.mpg">Getting up front and back (mpg)</a></font></p></td>
336 + </tr>
337 + <tr>
338 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
339 + </tr>
340 + <tr>
341 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step
342 + 10.</b><br>
343 + Now download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat4.zip">BRAT Autonomous 2-Axis Accelerometer Code</a>, load it into the
344 + IDE, and program your BRAT.</font>
345 + <p><font face="Verdana" size="2">For this program, we have added the accelerometer's X Axis to measure side-to-side tilt. Now if the BRAT falls
346 + onto its side, it will know to roll over in order to get back up. We have also incorporated a more advanced "get up from back"
347 + routine, which will enable robots with lots of cabling or weight in the back to stand one foot at a time. Additionally, we've added a
348 + "startled" behavior. If the BRAT is in resting mode and something is suddenly detected by the GP2D12 sensor, the BRAT will be
349 + startled, lean back, and beep.</font></p>
350 + <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to roam without bumping into anything, and get back up if it falls!</font></p>
351 + <p><font face="Verdana" size="2">Check out this video:<br>
352 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup02.mpg">Getting up front and side (mpg)</a></font></p></td>
353 + </tr>
354 +</tbody></table>
355 +</body>
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