Last modified by Eric Nantel on 2024/07/03 09:21
From version < 44.1 >
edited by Eric Nantel
on 2023/01/23 10:43
To version < 42.1 >
edited by Eric Nantel
on 2023/01/23 10:36
< >
Change comment: Upload new image "seqt18.jpg", version 1.1

Summary

Details

Page properties
Content
... ... @@ -1,727 +1,3 @@
1 1  {{html wiki="false" clean="true"}}
2 2  
3 -<body><table border="0" cellpadding="0" cellspacing="0" >
4 - <tbody><tr>
5 - <td valign="top" align="left"><b><font face="Verdana" size="2">Biped
6 - BRAT SEQ Tutorial.</font></b>
7 - <p><b><font face="Verdana" size="2">Updated <!--webbot bot="Timestamp"
8 - startspan s-type="EDITED" s-format="%m/%d/%Y" -->09/20/2006<!--webbot
9 - bot="Timestamp" i-checksum="12522" endspan -->.</font></b></p>
10 - <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
11 - <p><font face="Verdana" size="2"><b>Software:</b><br>
12 - &nbsp;&nbsp;- BRAT Projects<br>
13 - &nbsp;&nbsp;&nbsp;&gt; <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/minibipd.zip">minibipd.zip</a></font></p></td>
14 - <td align="center" valign="top" ><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-seq-b/WebHome/brat00.jpg" border="2" hspace="10" ><br>
15 - <strong>Image of Biped BRAT.</strong></font></td>
16 - </tr>
17 - <tr>
18 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
19 - </tr>
20 - <tr>
21 - <td valign="top" align="left" colspan="2">
22 - <p align="center"><font face="Verdana" size="2"><b>I. BRAT Configuration</b></font></p>
23 - </td>
24 - </tr>
25 - <tr>
26 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
27 - </tr>
28 - <tr>
29 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
30 - 1.</b><br>
31 - Install the SSC-32 Visual Sequencer. Read the Sequencer's manual. This
32 - tutorial is not meant to replace the manual! Connect the SSC-32 to the
33 - serial port and apply power. The green LED should light and stay on until
34 - it receives a valid serial command. Run the Visual Sequencer program.</font>
35 - <p><font face="Verdana" size="2"><b>Step 2.</b><br>
36 - The first step in configuring your robot is to position all the servos to
37 - mid-position. This is a quick way to ensure the robot was constructed
38 - properly. Click on "All=1.5mS" in the upper left corner.</font></p>
39 - </td>
40 - <td align="left" valign="top" >
41 - <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-seq-b/WebHome/seqt02.jpg" border="2" hspace="10" ><br>
42 - Figure 2.</font></p></td>
43 - </tr>
44 - <tr>
45 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
46 - </tr>
47 - <tr>
48 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
49 - 3.</b><br>
50 - Click the "Test" button.</font></td>
51 - <td align="left" valign="top" >
52 - <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-seq-b/WebHome/seqt03.jpg" border="2" hspace="10" ><br>
53 - Figure 3.</font></p></td>
54 - </tr>
55 - <tr>
56 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
57 - </tr>
58 - <tr>
59 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
60 - 4.</b><br>
61 - Place the robot in a position as close to neutral as possible. Click
62 - "Yes" and the robot should go to and hold the neutral position.
63 - Your robot should resemble figures 4-2 and 4-3. If the joints are off by
64 - more than 15° you may have made an error in assembly. To correct this,
65 - you remove the center screw from the round servo horn, pull the servo horn
66 - off the servo, rotate until it's aligned, then reattach the servo horn.</font>
67 - <p><font face="Verdana" size="2">When you are done, click on the
68 - "Stop" then "Exit" buttons.</font></p>
69 - </td>
70 - <td align="left" valign="top" >
71 - <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-seq-b/WebHome/seqt04.jpg" border="2" hspace="10" ><br>
72 - Figure 4-1.</font></p></td>
73 - </tr>
74 - <tr>
75 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
76 - </tr>
77 - <tr>
78 - <td valign="top" align="left">
79 - <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-seq-b/WebHome/brat01.jpg" border="2" hspace="10" ><br>
80 - Figure 4-2.</font></p>
81 - </td>
82 - <td align="left" valign="top" >
83 - <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-seq-b/WebHome/brat03.jpg" border="2" hspace="10" ><br>
84 - Figure 4-3.</font></p></td>
85 - </tr>
86 - <tr>
87 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
88 - </tr>
89 - <tr>
90 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
91 - 5.</b><br>
92 - Click on "SSC-32" in the upper left corner. This process
93 - configures the software to the servos in your robotic assembly. To do
94 - this, the servos' neutral, min, and max positions are defined and the
95 - actual angles each joint can achieve are entered.</font>
96 - <p><font face="Verdana" size="2">Take time to do an accurate
97 - configuration! Your robot will only perform as well as the accuracy of the
98 - configuration file it's using. In other words, sloppy configuration will
99 - make a sloppy robot when sharing projects.</font></p>
100 - </td>
101 - <td align="left" valign="top" >
102 - <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-seq-b/WebHome/seqt05.jpg" border="2" hspace="10" ><br>
103 - Figure 5.</font></p></td>
104 - </tr>
105 - <tr>
106 - <td valign="top" align="left" colspan="2"><br class="pb">
107 - </td>
108 - </tr>
109 - <tr>
110 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
111 - 6.</b><br>
112 - Each servo you configure must first be enabled. You simply click on the
113 - Enable checkbox. You can move the servo by adjusting the slider bar.</font>
114 - <p><font face="Verdana" size="2">You will enable the servos one at a time
115 - as you configure them.</font></p>
116 - </td>
117 - <td align="left" valign="top" >
118 - <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt06.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt06.jpg" border="2" hspace="10" ></a><br>
119 - Figure 6.</font></p></td>
120 - </tr>
121 - <tr>
122 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
123 - </tr>
124 - <tr>
125 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
126 - 7.</b><br>
127 - Channel 0 is for the BRAT's ankle on the right leg. Move the slider for
128 - servo 0 until the servo is at a 90° angle as shown. Note, the mouse's
129 - scrollwheel or keyboard's arrow keys can be used to make fine adjustments.</font></td>
130 - <td align="left" valign="top" >
131 - <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-seq-b/WebHome/brat04.jpg" border="2" hspace="10" ><br>
132 - Figure 7.</font></p></td>
133 - </tr>
134 - <tr>
135 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
136 - </tr>
137 - <tr>
138 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
139 - 8.</b><br>
140 - Right click on the slider and select "Set position as neutral (0°)"
141 - from the menu.</font>
142 - <p><font face="Verdana" size="2">Note, you can see the actual servo pulse
143 - length in microseconds in the "Position" box on the left. This
144 - can be helpful to make a pulse offset table for experimenting with BASIC
145 - programming.</font></p>
146 - </td>
147 - <td align="left" valign="top" >
148 - <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt07.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt07.jpg" border="2" hspace="10" ></a><br>
149 - Figure 8.</font></p></td>
150 - </tr>
151 - <tr>
152 - <td valign="top" align="left" colspan="2"><br class="pb">
153 - </td>
154 - </tr>
155 - <tr>
156 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
157 - 9.</b><br>
158 - Move the slider for servo 0 until the servo is at a 45° angle as shown.</font>
159 - <p><font face="Verdana" size="2">Right click on the slider and select
160 - "Set position as min" from the menu as shown in Figure 9-2.</font></p>
161 - <p><font face="Verdana" size="2">Adjust the "Min Deg" box to say
162 - "-45°" as shown in Figure 9-3.</font></p>
163 - </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-seq-b/WebHome/brat05.jpg" border="2" hspace="10" ><br>
166 - Figure 9-1.</font></p></td>
167 - </tr>
168 - <tr>
169 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
170 - </tr>
171 - <tr>
172 - <td valign="top" align="left">
173 - <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt08.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt08.jpg" border="2" hspace="10" ></a><br>
174 - Figure 9-2.</font></p>
175 - </td>
176 - <td align="left" valign="top" >
177 - <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt09.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt09.jpg" border="2" hspace="10" ></a><br>
178 - Figure 9-3.</font></p></td>
179 - </tr>
180 - <tr>
181 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
182 - </tr>
183 - <tr>
184 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
185 - 10.</b><br>
186 - Move the slider for servo 0 until the servo is at an 84° angle as shown.</font>
187 - <p><font face="Verdana" size="2">Right click on the slider and select
188 - "Set position as max" from the menu as shown in Figure 10-2.</font></p>
189 - <p><font face="Verdana" size="2">Adjust the "Max Deg" box to say
190 - "84°" as shown in Figure 10-3.</font></p>
191 - <p><font face="Verdana" size="2">Move the slider back to 0° before going
192 - on to the next servo.</font></p>
193 - </td>
194 - <td align="left" valign="top" >
195 - <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-seq-b/WebHome/brat06.jpg" border="2" hspace="10" ><br>
196 - Figure 10-1.</font></p></td>
197 - </tr>
198 - <tr>
199 - <td valign="top" align="left" colspan="2"><br class="pb">
200 - </td>
201 - </tr>
202 - <tr>
203 - <td valign="top" align="left">
204 - <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt10.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt10.jpg" border="2" hspace="10" ></a><br>
205 - Figure 10-2.</font></p>
206 - </td>
207 - <td align="left" valign="top" >
208 - <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt11.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt11.jpg" border="2" hspace="10" ></a><br>
209 - Figure 10-3.</font></p></td>
210 - </tr>
211 - <tr>
212 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
213 - </tr>
214 - <tr>
215 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
216 - 11.</b><br>
217 - Channel 1 is for the BRAT's right knee. Adjust and set the neutral (0°)
218 - position with the knee straight as shown in Figure 11-1. Adjust and set
219 - the min and max positions as shown in Figure 11-2 and 11-3. Note, you do
220 - not have to change the angles because the knee can reach +/-90°.</font>
221 - <p><font face="Verdana" size="2">Move the slider back to 0° before going
222 - on to the next servo.</font></p>
223 - </td>
224 - <td align="left" valign="top" >
225 - <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-seq-b/WebHome/brat07.jpg" border="2" hspace="10" ><br>
226 - Figure 11-1.</font></p></td>
227 - </tr>
228 - <tr>
229 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
230 - </tr>
231 - <tr>
232 - <td valign="top" align="left">
233 - <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-seq-b/WebHome/brat08.jpg" border="2" hspace="10" ><br>
234 - Figure 11-2.</font></p>
235 - </td>
236 - <td align="left" valign="top" >
237 - <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-seq-b/WebHome/brat09.jpg" border="2" hspace="10" ><br>
238 - Figure 11-3.</font></p></td>
239 - </tr>
240 - <tr>
241 - <td valign="top" align="left" colspan="2"><br class="pb">
242 - </td>
243 - </tr>
244 - <tr>
245 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
246 - 12.</b><br>
247 - Channel 2 is for the BRAT's right hip. Adjust the hip as shown in Figure
248 - 12-1 and set the neutral (0°) position. Adjust the hip as in Figure 12-2
249 - and set the minimum (-90°) position. Adjust the hip as in Figure 12-3 and
250 - set the maximum (45°) position. For clarity, the knees were bent in
251 - Figure 12-3.</font>
252 - <p><font face="Verdana" size="2">Move the slider back to 0° before going
253 - on to the next servo.</font></p>
254 - </td>
255 - <td align="left" valign="top" >
256 - <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-seq-b/WebHome/brat10.jpg" border="2" hspace="10" ><br>
257 - Figure 12-1.</font></p></td>
258 - </tr>
259 - <tr>
260 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
261 - </tr>
262 - <tr>
263 - <td valign="top" align="left">
264 - <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-seq-b/WebHome/brat11.jpg" border="2" hspace="10" ><br>
265 - Figure 12-2.</font></p>
266 - </td>
267 - <td align="left" valign="top" >
268 - <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-seq-b/WebHome/brat12.jpg" border="2" hspace="10" ><br>
269 - Figure 12-3.</font></p></td>
270 - </tr>
271 - <tr>
272 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
273 - </tr>
274 - <tr>
275 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
276 - 13.</b><br>
277 - The robot's right side is now configured. You can now configure the
278 - robot's left side. Click on the "Bank 3" button to gain access
279 - to channels 16-23. Channel 16 is the right ankle, 17 is the right knee,
280 - and 18 is the right hip. Configuring these channels is identical to
281 - configuring channels 0-2 with one exception: After you are done with the
282 - normal configuration, you must click on the "Reverse" checkbox
283 - for these three channels! Make sure all servos are set to 0° (home) and
284 - save your work. For this robot, "home" position is with all the
285 - servos set to their 0° position. However, any position you leave the
286 - sliders in when you save the configuration is how the robot will look when
287 - you start Sequencer. In other words, "home" position does not
288 - have to be the 0° position, that's just what we used. Save your work. The
289 - .cfg file will need to be loaded each time you run the program. If you
290 - only have one robot to set up, save over the "ConfigSSC32.cfg"
291 - file. However, if you plan on using the sequencer with more than one
292 - robot, then input a new file name, such as "BipedBRAT.cfg" It's
293 - important that you save these files in the install directory, default
294 - C:\Program&nbsp;Files\Sequencer_SSC-32\</font></td>
295 - <td align="left" valign="top" >
296 - <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt12.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt12.jpg" border="2" hspace="10" ></a><br>
297 - Figure 13.</font></p></td>
298 - </tr>
299 - <tr>
300 - <td valign="top" align="left" colspan="2"><br class="pb">
301 - </td>
302 - </tr>
303 - <tr>
304 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
305 - 14.</b><br>
306 - Now we're going to import a pre-made project. This will enable you to use
307 - other people's projects on your robot.</font>
308 - <p><font face="Verdana" size="2">Download <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/minibipd.zip">this
309 - zip file</a>. It contains several projects. Unzip it into the SEQ install
310 - directory. By default, it is C:\Program&nbsp;Files\Sequencer_SSC-32\</font></p>
311 - <p><font face="Verdana" size="2">Click on "Project" in the upper
312 - left corner.</font></p></td>
313 - <td align="left" valign="top" >
314 - <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-seq-b/WebHome/seqt13.jpg" border="2" hspace="10" ><br>
315 - Figure 14.</font></p></td>
316 - </tr>
317 - <tr>
318 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
319 - </tr>
320 - <tr>
321 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
322 - 15.</b><br>
323 - Click on "Import," then select "biped6-long&nbsp;stride.csv"
324 - and click "Open," then "OK."</font>
325 - <p><font face="Verdana" size="2">Enter a project name or leave the
326 - default, then click "OK." You should see an "Import
327 - success" message.</font></p>
328 - <p><font face="Verdana" size="2">Click "Exit."</font></p>
329 - </td>
330 - <td align="left" valign="top" >
331 - <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-seq-b/WebHome/seqt14.jpg" border="2" hspace="10" ><br>
332 - Figure 15.</font></p></td>
333 - </tr>
334 - <tr>
335 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
336 - </tr>
337 - <tr>
338 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
339 - 16.</b><br>
340 - Now for some fun! Let's make that robot walk!</font>
341 - <p><font face="Verdana" size="2">Click on "Sequencer" as shown
342 - in Figure 16-1.</font></p>
343 - <p><font face="Verdana" size="2">From the drop down menu in the project
344 - section, select "biped6-long stride."</font></p>
345 - <p><font face="Verdana" size="2">In the Play menu, click on "Project
346 - Loop" as shown in Figure 16-3. Caution, the robot will start moving
347 - immediately. To stop the robot, click on the black "stop" or
348 - "pause" buttons.</font></p>
349 - <p><font face="Verdana" size="2">If everything went well, your robot
350 - should have walked across the table. If it appears that the legs are
351 - moving in the same positions, you may have forgotten to reverse the servos
352 - on the robot's left side.</font></p>
353 - </td>
354 - <td align="left" valign="top" >
355 - <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-seq-b/WebHome/seqt17.jpg" border="2" hspace="10" ><br>
356 - Figure 16-1.</font></p></td>
357 - </tr>
358 - <tr>
359 - <td valign="top" align="left" colspan="2"><br class="pb">
360 - </td>
361 - </tr>
362 - <tr>
363 - <td valign="top" align="left">
364 - <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-seq-b/WebHome/seqt18.jpg" border="2" hspace="10" ><br>
365 - Figure 16-2.</font></p></td>
366 - <td align="left" valign="top" >
367 - <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-seq-b/WebHome/seqt19.jpg" border="2" hspace="10" ><br>
368 - Figure 16-3.</font></p></td>
369 - </tr>
370 - <tr>
371 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
372 - </tr>
373 - <tr>
374 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
375 - 17.</b><br>
376 - Refer to Table 17 for a list of the projects included in the zip file and
377 - a video link when available.</font>
378 - <p><font face="Verdana" size="2">After you're comfortable with playing
379 - projects, you can consult the Sequencer manual for more information on how
380 - to create your own. Remember to send us images and videos of your cool
381 - projects so we can publish them online!</font></p>
382 - </td>
383 - <td align="left" valign="top" >
384 - <div align="center">
385 - <center>
386 - <table border="0">
387 - <tbody><tr>
388 - <td >
389 - <div align="center">
390 - <table border="1" bordercolor="#000000" >
391 - <tbody><tr>
392 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Project
393 - File</b></font></td>
394 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Video
395 - Link</b></font></td>
396 - </tr>
397 - <tr>
398 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Balance
399 - on Ankle</font></td>
400 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv04.mpg">Video</a>&gt;</font></td>
401 - </tr>
402 - <tr>
403 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Balance</font></td>
404 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv06.mpg">Video</a>&gt;</font></td>
405 - </tr>
406 - <tr>
407 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Bow</font></td>
408 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">--</font></td>
409 - </tr>
410 - <tr>
411 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Get
412 - up from Back</font></td>
413 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv05.mpg">Video</a>&gt;</font></td>
414 - </tr>
415 - <tr>
416 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Get
417 - up from Front</font></td>
418 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv01.mpg">Video</a>&gt;</font></td>
419 - </tr>
420 - <tr>
421 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Headbutt</font></td>
422 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv07.mpg">Video</a>&gt;</font></td>
423 - </tr>
424 - <tr>
425 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Kick</font></td>
426 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv03.mpg">Video</a>&gt;</font></td>
427 - </tr>
428 - <tr>
429 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Long
430 - Stride</font></td>
431 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv08.mpg">Video</a>&gt;</font></td>
432 - </tr>
433 - <tr>
434 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Turn</font></td>
435 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv09.mpg">Video</a>&gt;</font></td>
436 - </tr>
437 - <tr>
438 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Walk</font></td>
439 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv02.mpg">Video</a>&gt;</font></td>
440 - </tr>
441 - </tbody></table>
442 - </div>
443 - </td>
444 - </tr>
445 - <tr>
446 - <td >
447 - <p align="center"><font face="Verdana" size="2">Table 17</font></p>
448 - </td>
449 - </tr>
450 - </tbody></table>
451 - </center>
452 - </div>
453 - </td>
454 - </tr>
455 - <tr>
456 - <td valign="top" align="left" colspan="2"><br class="pb">
457 - </td>
458 - </tr>
459 - <tr>
460 - <td valign="top" align="left" colspan="2">
461 - <p align="center"><font face="Verdana" size="2"><b>II. Creating a Walking
462 - Sequence</b></font></p>
463 - </td>
464 - </tr>
465 - <tr>
466 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
467 - </tr>
468 - <tr>
469 - <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
470 - 1.<br>
471 - </strong>Run the Sequencer program.</font>
472 - <p><font face="Verdana" size="2">Select the "empty" project from
473 - the Project drop down menu, and click on the black "+" to make a
474 - new project. Enter a name for your project. As we are making the robot
475 - walk, a name such as "BRAT-Walk" might be applicable.</font></p></td>
476 - <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq20.jpg" border="2" hspace="10" ></a><br>
477 - Figure 1.</font></td>
478 - </tr>
479 - <tr>
480 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
481 - </tr>
482 - <tr>
483 - <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
484 - 2.</strong><br>
485 - Now we're faced with an empty project and a screen full of servo blocks.
486 - To make the screen more manageable, click on "Swap" at the top.
487 - This will swap the selected servos with the unselected ones. Since no
488 - servos are unselected, this will clear the screen.</font>
489 - <p><font face="Verdana" size="2">Now just click on the servos that you
490 - need, which should be servos 0, 1, 2, 16, 17, and 18.</font></p></td>
491 - <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq21.jpg" border="2" hspace="10" ></a><br>
492 - Figure 2.</font></td>
493 - </tr>
494 - <tr>
495 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
496 - </tr>
497 - <tr>
498 - <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
499 - 3.</strong><br>
500 - You can click and drag the servo boxes to arrange them so they resemble
501 - the robot's physical layout.</font></td>
502 - <td align="center" valign="top" ><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-seq-b/WebHome/seq22.jpg" border="2" hspace="10" ><br>
503 - Figure 3.</font></td>
504 - </tr>
505 - <tr>
506 - <td valign="top" align="left" colspan="2"><br class="pb">
507 - </td>
508 - </tr>
509 - <tr>
510 - <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
511 - 4.</strong><br>
512 - You can also name the servos by clicking on the number in the servo box.
513 - It will bring up the screen in Figure 4. In addition to naming the servo,
514 - you can change the color of the servo box.</font></td>
515 - <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq23.jpg" border="2" hspace="10" ></a><br>
516 - Figure 4.</font></td>
517 - </tr>
518 - <tr>
519 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
520 - </tr>
521 - <tr>
522 - <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
523 - 5.</strong><br>
524 - Now we're almost ready to make the robot walk. First, here's an outline of
525 - the walking sequence. The last two steps are just mirror images of the
526 - first two steps.</font></td>
527 - <td align="center" valign="top" >
528 - <div align="center">
529 - <center>
530 - <table border="1" bordercolor="#FFFFFF" >
531 - <tbody><tr>
532 - <td >
533 - <div align="center">
534 - <table border="1" bordercolor="#000000" >
535 - <tbody><tr>
536 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step
537 - 1</font></td>
538 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Shift
539 - weight to robot's right</font></td>
540 - </tr>
541 - <tr>
542 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step
543 - 2</font></td>
544 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Step
545 - forward</font></td>
546 - </tr>
547 - <tr>
548 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step
549 - 3</font></td>
550 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Shift
551 - weight to robot's left</font></td>
552 - </tr>
553 - <tr>
554 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step
555 - 4</font></td>
556 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Step
557 - forward</font></td>
558 - </tr>
559 - </tbody></table>
560 - </div></td>
561 - </tr>
562 - <tr>
563 - <td bordercolor="#FFFFFF">
564 - <p align="center"><font face="Verdana" size="2">Table 5.</font></p></td>
565 - </tr>
566 - </tbody></table>
567 - </center></div>
568 - </td>
569 - </tr>
570 - <tr>
571 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
572 - </tr>
573 - <tr>
574 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
575 - 6.</b><br>
576 - To make this project even easier, click on the "A<img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/link.gif" >B"
577 - button in the lower left corner. This screen allows you to link servos
578 - together. Click on "Servo 1" on the left side and "Servo
579 - 17" on the right, then click "Add." Do the same with Servos
580 - 2 and 18. This will allow you to switch the positions of the right and
581 - left legs with just a few clicks.</font></td>
582 - <td align="left" valign="top" >
583 - <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-seq-b/WebHome/seq24.jpg" border="2" hspace="10" ><br>
584 - Figure 6.</font></p></td>
585 - </tr>
586 - <tr>
587 - <td valign="top" align="left" colspan="2"><br class="pb">
588 - </td>
589 - </tr>
590 - <tr>
591 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
592 - 7.</b><br>
593 - The first step in this walk is to get the robot into position to take a
594 - stride in the second step. Set your servos to the degrees shown in Table
595 - 7. They don't have to be exact; close will do. When you're done, click on
596 - the red "=" in the Step section to overwrite Step 1.<br>
597 - &nbsp;</font>
598 - <div align="center">
599 - <center>
600 - <table border="1" bordercolor="#FFFFFF" >
601 - <tbody><tr>
602 - <td >
603 - <div align="center">
604 - <table border="1" bordercolor="#000000" >
605 - <tbody><tr>
606 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">2</font></td>
607 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">-25</font></td>
608 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">18</font></td>
609 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">25</font></td>
610 - </tr>
611 - <tr>
612 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">1</font></td>
613 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">-20</font></td>
614 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">17</font></td>
615 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">20</font></td>
616 - </tr>
617 - <tr>
618 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">0</font></td>
619 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">-8</font></td>
620 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">16</font></td>
621 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">8</font></td>
622 - </tr>
623 - </tbody></table>
624 - </div></td>
625 - </tr>
626 - <tr>
627 - <td bordercolor="#FFFFFF">
628 - <p align="center"><font face="Verdana" size="2">Table 7.</font></p></td>
629 - </tr>
630 - </tbody></table>
631 - </center></div>
632 - </td>
633 - <td align="left" valign="top" >
634 - <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq25.jpg" border="2" hspace="10" ></a><br>
635 - Figure 7.</font></p></td>
636 - </tr>
637 - <tr>
638 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
639 - </tr>
640 - <tr>
641 - <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
642 - 8.</strong><br>
643 - Now, click on "A&lt;=&gt;B" and deselect the "Selected
644 - step" check box and click OK. Then click the green "+" in
645 - the Step section to add the current position as a new step.</font></td>
646 - <td align="center" valign="top" ><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-seq-b/WebHome/seq26.jpg" border="2" hspace="10" ><br>
647 - Figure 8.</font></td>
648 - </tr>
649 - <tr>
650 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
651 - </tr>
652 - <tr>
653 - <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
654 - 9.</strong><br>
655 - To shift the robot's weight, just use the sliders and switch the degrees
656 - for Servos 0 and 16. Click on the green "+" in the Step section
657 - when you're done to add this as a new step.</font></td>
658 - <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq28.jpg" border="2" hspace="10" ></a><br>
659 - Figure 9.</font></td>
660 - </tr>
661 - <tr>
662 - <td valign="top" align="left" colspan="2"><br class="pb">
663 - </td>
664 - </tr>
665 - <tr>
666 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
667 - 10.<br>
668 - </b>Now all you have to do is take another step! Click on the
669 - "A&lt;=&gt;B" button again, deselect "Selected step"
670 - if it isn't already, and click OK. Click on the green "+" in the
671 - Step section when you're done.</font></td>
672 - <td align="center" valign="top" ><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-seq-b/WebHome/seq26.jpg" border="2" hspace="10" ><br>
673 - Figure 10.</font></td>
674 - </tr>
675 - <tr>
676 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
677 - </tr>
678 - <tr>
679 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
680 - 11.</b><br>
681 - To test the walk sequence, click on the sequence loop button on the right
682 - side of the screen under "Play." You can stop or pause the
683 - walking sequence from the Play menu.</font>
684 - <p><font face="Verdana" size="2">If you were successful, the robot should
685 - be walking now. If the robot doesn't walk in a straight line, try
686 - increasing the ankle degrees so that more weight is shifted.</font></p>
687 - </td>
688 - <td align="left" valign="top" >
689 - <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq27.jpg" border="2" hspace="10" ></a><br>
690 - Figure 11.</font></p></td>
691 - </tr>
692 - <tr>
693 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
694 - </tr>
695 - <tr>
696 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
697 - 12.</b><br>
698 - To adjust the biped's walking speed, you can use the "Advanced
699 - Play" feature. Click on the Advanced Play button on the right side of
700 - the screen.</font></td>
701 - <td align="left" valign="top" >
702 - <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq29.jpg" border="2" hspace="10" ></a><br>
703 - Figure 12.</font></p></td>
704 - </tr>
705 - <tr>
706 - <td valign="top" align="left" colspan="2"><br class="pb">
707 - </td>
708 - </tr>
709 - <tr>
710 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
711 - 13.</b><br>
712 - By moving the Time slider, you will adjust the speed of all the servos in
713 - the project to a percentage of the normal speed. 100% is the project's
714 - normal speed. Moving the slider below 100% causes the robot to move
715 - faster, while above 100% slows the robot down.</font>
716 - <p><font face="Verdana" size="2">Click on the Loop button to test your new
717 - speed. You can tweak the speed while the robot is moving to get it
718 - perfect.</font></p>
719 - <p><font face="Verdana" size="2">If you click on the Apply button, the new
720 - speed will be applied to the project.&nbsp;</font></p></td>
721 - <td align="left" valign="top" >
722 - <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq30.jpg" border="2" hspace="10" ></a><br>
723 - Figure 13.</font></p></td>
724 - </tr>
725 -</tbody></table>
726 -</body>
727 727  {{/html}}
seqt19.jpg
Author
... ... @@ -1,1 +1,0 @@
1 -xwiki:XWiki.ENantel
Size
... ... @@ -1,1 +1,0 @@
1 -17.8 KB
Content

Navigation

Recently Visited

Copyright RobotShop 2018