BRAT Biped SEQ Tutorial v1.06XE

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

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zip file</a>. It contains several projects. Unzip it into the SEQ install

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directory. By default, it is C:\Program Files\Sequencer_SSC-32\

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Click on "Project" in the upper

left corner.</td>

Figure 14.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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15.

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Click on "Import," then select "biped6-long stride.csv"

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and click "Open," then "OK."

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Enter a project name or leave the

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default, then click "OK." You should see an "Import

success" message.

Click "Exit."

</td>

Figure 15.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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16.

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Now for some fun! Let's make that robot walk!

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Click on "Sequencer" as shown

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in Figure 16-1.

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From the drop down menu in the project

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section, select "biped6-long stride."

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In the Play menu, click on "Project

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Loop" as shown in Figure 16-3. Caution, the robot will start moving

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immediately. To stop the robot, click on the black "stop" or

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"pause" buttons.

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If everything went well, your robot

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should have walked across the table. If it appears that the legs are

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moving in the same positions, you may have forgotten to reverse the servos

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on the robot's left side.

</td>

Figure 16-1.</td>

</tr>

<tr>

</td>

</tr>

<tr>

Figure 16-2.</td>

Figure 16-3.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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17.

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Refer to Table 17 for a list of the projects included in the zip file and

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a video link when available.

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After you're comfortable with playing

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projects, you can consult the Sequencer manual for more information on how

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to create your own. Remember to send us images and videos of your cool

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projects so we can publish them online!

</td>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Project

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File</td>

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<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Video

Link</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Balance

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on Ankle</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><<a href="https://www.lynxmotion.com/images/video/bp6srv04.mpg">Video</a>></td>

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</tr>

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<tr>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Balance</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><<a href="https://www.lynxmotion.com/images/video/bp6srv06.mpg">Video</a>></td>

</tr>

<tr>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Get

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up from Back</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><<a href="https://www.lynxmotion.com/images/video/bp6srv05.mpg">Video</a>></td>

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</tr>

415

<tr>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Get

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up from Front</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><<a href="https://www.lynxmotion.com/images/video/bp6srv01.mpg">Video</a>></td>

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</tr>

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<tr>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Headbutt</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><<a href="https://www.lynxmotion.com/images/video/bp6srv07.mpg">Video</a>></td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><<a href="https://www.lynxmotion.com/images/video/bp6srv03.mpg">Video</a>></td>

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</tr>

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<tr>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Long

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Stride</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><<a href="https://www.lynxmotion.com/images/video/bp6srv08.mpg">Video</a>></td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><<a href="https://www.lynxmotion.com/images/video/bp6srv09.mpg">Video</a>></td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><<a href="https://www.lynxmotion.com/images/video/bp6srv02.mpg">Video</a>></td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 17

</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

<tr>

</td>

</tr>

<tr>

II. Creating a Walking

Sequence

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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1.

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Run the Sequencer program.

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Select the "empty" project from

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the Project drop down menu, and click on the black "+" to make a

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new project. Enter a name for your project. As we are making the robot

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walk, a name such as "BRAT-Walk" might be applicable.</td>

Figure 1.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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2.

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Now we're faced with an empty project and a screen full of servo blocks.

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To make the screen more manageable, click on "Swap" at the top.

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This will swap the selected servos with the unselected ones. Since no

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servos are unselected, this will clear the screen.

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Now just click on the servos that you

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need, which should be servos 0, 1, 2, 16, 17, and 18.</td>

Figure 2.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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3.

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You can click and drag the servo boxes to arrange them so they resemble

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the robot's physical layout.</td>

Figure 3.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step

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4.

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You can also name the servos by clicking on the number in the servo box.

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It will bring up the screen in Figure 4. In addition to naming the servo,

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you can change the color of the servo box.</td>

Figure 4.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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5.

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Now we're almost ready to make the robot walk. First, here's an outline of

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the walking sequence. The last two steps are just mirror images of the

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first two steps.</td>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Step

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1</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Shift

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weight to robot's right</td>

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</tr>

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<tr>

542

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Step

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2</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Step

forward</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Step

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3</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Shift

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weight to robot's left</td>

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</tr>

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<tr>

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<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Step

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4</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Step

forward</td>

</tr>

</tbody></table>

</div></td>

</tr>

<tr>

Table 5.</td>

</tr>

</tbody></table>

</center></div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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6.

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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"

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button in the lower left corner. This screen allows you to link servos

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together. Click on "Servo 1" on the left side and "Servo

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17" on the right, then click "Add." Do the same with Servos

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2 and 18. This will allow you to switch the positions of the right and

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left legs with just a few clicks.</td>

Figure 6.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step

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7.

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The first step in this walk is to get the robot into position to take a

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stride in the second step. Set your servos to the degrees shown in Table

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7. They don't have to be exact; close will do. When you're done, click on

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the red "=" in the Step section to overwrite Step 1.

<td >

</tr>

<tr>

</tr>

<tr>

</tr>

</tbody></table>

</div></td>

</tr>

<tr>

Table 7.</td>

</tr>

</tbody></table>

</center></div>

</td>

Figure 7.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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8.

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Now, click on "A<=>B" and deselect the "Selected

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step" check box and click OK. Then click the green "+" in

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the Step section to add the current position as a new step.</td>

Figure 8.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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9.

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To shift the robot's weight, just use the sliders and switch the degrees

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for Servos 0 and 16. Click on the green "+" in the Step section

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when you're done to add this as a new step.</td>

Figure 9.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step

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10.

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Now all you have to do is take another step! Click on the

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"A<=>B" button again, deselect "Selected step"

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if it isn't already, and click OK. Click on the green "+" in the

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Step section when you're done.</td>

Figure 10.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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11.

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To test the walk sequence, click on the sequence loop button on the right

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side of the screen under "Play." You can stop or pause the

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walking sequence from the Play menu.

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If you were successful, the robot should

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be walking now. If the robot doesn't walk in a straight line, try

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increasing the ankle degrees so that more weight is shifted.

</td>

Figure 11.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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12.

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To adjust the biped's walking speed, you can use the "Advanced

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Play" feature. Click on the Advanced Play button on the right side of

the screen.</td>

Figure 12.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step

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13.

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By moving the Time slider, you will adjust the speed of all the servos in

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the project to a percentage of the normal speed. 100% is the project's

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normal speed. Moving the slider below 100% causes the robot to move

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faster, while above 100% slows the robot down.

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Click on the Loop button to test your new

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speed. You can tweak the speed while the robot is moving to get it

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perfect.

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If you click on the Apply button, the new

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speed will be applied to the project. </td>

Figure 13.</td>

</tr>

</tbody></table>

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