ires_journal9
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| After implementing the joint angle and velocity limits last week, I focused on enabling the upper body imitation this week. The previous tests and programs only focused on right arm only. So this week, I modified both the motion capture algorithm and PODO AL programs to capture motions from both arms and imitating these motions on Hubo 2. | After implementing the joint angle and velocity limits last week, I focused on enabling the upper body imitation this week. The previous tests and programs only focused on right arm only. So this week, I modified both the motion capture algorithm and PODO AL programs to capture motions from both arms and imitating these motions on Hubo 2. | ||
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| + | As seen from the video, the imitation is not perfect. In the beginning, the left shoulder yaw motor rotated to an undesirable position. That is because the left arm was outside of mocap area in the beginning. Another major difference is the speed of motion. The joint angle data was calculated at 0.010 ms. The real time thread on Hubo 2's PC runs at 0.010 ms interval. Some delay between actual execution of motion accumulated overtime and resulted in the delay. | ||
ires_journal9.txt · Last modified: 2018/08/06 02:27 by yuhanghe