INTRODUCTION TO MOTION

GENERATION FOR NAO ROBOT USING

ANDROID FRAMEWORK

Department: FTI-FHO-FPT
Presenter: Pham Van Trung
 OUTLINE

1 Introduction

2 Motor Stiffness Control

3 Joint Angle Control

4 Position Control

5 Locomotion Control

6 Question and Comment

 Introduction
Robot Models
 Introduction
Humanoid robot

• Have human model

• Capable to perform as human
 Introduction
NAO Humanoid Robot
 Introduction
Motions of NAO Robot
 How to move an arm or a leg to a position?
 Forward kinematic
 Inverse kinematic
 How to locate a position of the robot?
 Introduction
NAO Motion Module on Android Framework

1. Control Stiffness of Joint Motor

2. Control Joint Angle

3. Control Effector Position in Cartesian Coordinate

4. Locomotion control
 Stiffness Control
What is stiffness?
 Basically, stiffness is a torque that a motor of joint can generate
 Stiffness value relatively defined 0.0 to 1.0

Functions to control and manage stiffness

 Globally, on the whole robot using:
o RobotMotionStiffnessController. wakeUp (Robot robot)
o RobotMotionStiffnessController. rest (Robot robot)

 Specifically, for one or several joint(s) using:

o RobotMotionStiffnessController. stiffnessInterpolation (Robot robot, String[]
names, float[] stiffnesses, float[] times) float[]
o RobotMotionStiffnessController. getStiffnesses (Robot robot, String name )
o RobotMotionStiffnessController. setStiffnesses (Robot robot, String[] names,
float[] stiffnesses)
 Stiffness Control
Example Using setStiffnesses()
 names – Name or names of joints or chains:
“Body”, “JointActuators”, “Joints” or
“Actuators”: HeadYaw, LShoulderPitch,
LHipYawPitch, RHipYawPitch,
RShoulderPitch, HeadPitch, LShoulderRoll,
LHipRoll, RHipRoll, RShoulderRoll,
LElbowYaw, LHipPitch, RHipPitch,
RElbowYaw, LElbowRoll, LKneePitch,
RKneePitch, RElbowRoll,LWristYaw,
LAnklePitch, RAnklePitch, RWristYaw,
LHand, RAnkleRoll, LAnkleRoll, RHand.

 Stiffnesses, stiffnessLists, – An stiffness, list of

stiffnesses or list of list of stiffnesses. Range
of stiffness value is within [0.0,1.0];
 Joint Control
What is joint control?
 Rotate a joint motor by a exact given angle
 Forward kinematic control
Functions to control joint angles
 Animation methods (time fixed, blocking function
o RobotMotionJointController. angleInterpolation (Robot robot, String[] names,
float[] angles, float[] times, boolean isAbsolute)
o RobotMotionJointController. angleInterpolationWithSpeed (Robot robot,String[]
names, float[] angles, float fractionMaxSpeed)
 Reactive methods (could be changed every ALMotion cycle, non blocking
function)
o RobotMotionJointController. setAngles (Robot robot, String[] names, float[] angles,
float fractionMaxSpeed)
o RobotMotionJointController. changeAngles (Robot robot, String[] names, float[]
angles, float fractionMaxSpeed)
o RobotMotionJointController. closeHand (Robot robot, String hand)
o RobotMotionJointController. openHand (Robot robot, String hand)
 Joint Control
Example Using angleInterpolation ()

names – Name or names of joints, chains as

mentioned in the section 1.
angles – An angle, list of angles or list of list
of angles in radians that will be varied. Range of
angle variation is within [-3.14,+3.14] depending
on an allowable range of a chosen joint. See
more about joint of hardware specification.
times – A time, list of times or list of list of
times in seconds. It must be greater than zero.
isAbsolute – If true, the movement is
described in absolute angles in the default
defined coordinate , else the angles are relative
to the current angle.
 Cartesian Control
What is Cartesian control?
 Move an effector (chain of joints) to a given position in a Cartesian coordinate
 Dealing with inverse kinematic problem

Functions
 Animation methods (time fixed, blocking function
o RobotMotionCartesianController. positionInterpolation (Robot robot, String name,
int space, RobotPosition6D[] positionList, int axisMask, float[] durationList,
boolean isAbsolute)
o RobotMotionCartesianController. positionInterpolations (Robot robot, String[]
names, int spaceForAll, RobotPosition6D[] positionList, int[] axisMaskList, float[]
durationList, boolean isAbsolute)
 Reactive methods (could be changed every ALMotion cycle, non
blocking function)
o RobotMotionCartesianController. setPosition (Robot robot, String name, int space,
RobotPosition6D position, int axisMask, float fractionMaxSpeed)
o RobotMotionCartesianController. changePosition (Robot robot, String name, int
space, RobotPosition6D positionChange, int axisMask, float fractionMaxSpeed)
 Cartesian Control
Example Using positionInterpolation ()
Name – Name of the chain. Could be: “Head”,
“LArm”, “RArm”, “LLeg”, “RLeg”.
space – Task space {FRAME_TORSO = 0,
FRAME_WORLD = 1, FRAME_ROBOT = 2}.
positionList – Vector of 6D position arrays
(x,y,z,wx,wy,wz) in meters and radians.
axisMask – Axis mask. True for axes that you wish
to control. e.g. 7 for position only, 56 for rotation
only and 63 for both.
durationList – Vector of times in seconds
corresponding to the path points.
isAbsolute – If true, the movement is absolute else
relative.
Robot – is a connected robot. This variable is
retrieved by calling the function Robot. getRobot().
 Locomotion Control
What is Locomotion control?
 Move a robot in local place

Functions to manage walking

o RobotMotionLocomotionController. moveTo (Robot robot, RobotMoveTargetPosition
target)
o RobotMotionLocomotionController. setWalkTargetVelocity (Robot robot,
RobotMoveTargetPosition target, float speed)
o RobotMotionLocomotionController. moveIsActive()
o RobotMotionLocomotionController. stopMove()
o RobotMotionLocomotionController. getRobotPosition (const bool& useSensors)
o RobotMotionLocomotionController. getNextRobotPosition()
o RobotMotionLocomotionController. getRobotVelocity()
 Locomotion Control
Examples
 SetWalkwithVelocity()
x – Fraction of MaxStepX. Use negative for backwards. [-
1.0 to 1.0]
y – Fraction of MaxStepY. Use negative for right. [-1.0 to
1.0]
theta – Fraction of MaxStepTheta. Use negative for
clockwise [-1.0 to 1.0]
Frequency – Fraction of MaxStepFrequency [0.0 to 1.0]

 MoveTo()
x – Distance along the X axis in meters.
y – Distance along the Y axis in meters.
theta – Rotation around the Z axis in
radians [-3.1415 to 3.1415].
 Questions and Comments

Thank for Your Attention