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| ires_journal4 [2018/07/01 17:32] – [Photos of the Week] yuhanghe | ires_journal4 [2018/07/01 18:48] (current) – yuhanghe |
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| ==== New Korean ==== | ==== New Korean ==== |
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| During the tea break at the forum, I met a group of chemistry students from KAIST. Some of the students attended the forum because Sir. Stoddart is a renowned researcher in the chemistry. While other students attended because their chemistry professor, Professor Cafter Yavuz is a member of panel discussion. Our conversation moved around college campus life. I was surprised to find that there are general course requirement for undergraduate students at KAIST. There is many similarities between campus life at KAIST and UNLV. I am also impressed by these students' dedication toward research and study. | My Korean teacher, who volunteered to teach me Korean, invited me to dinner twice this week. He will be leaving next week with a group of KAIST students for volunteering works in Uganda for 10 days. He invited me and his colleagues for dinner and I have the opportunity to meet them. Their name is Sui and Bura. All three of them worked at KAIST Internation Student Service before, so they all knew how to speak English pretty well. Sui also speak a little bit of Mandarin Chinese, so I talked with her in Chinese for a little bit. Bura told me that her name means purple in Korean and she currently worked in KAIST Cultural Technology department which is next to the Hubo Lab. It was great meeting and talking with them over dinner. |
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| ==== Korean Cultural Insight ==== | ==== Korean Cultural Insight ==== |
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| This week, I learned a little bit about Korean fashion from Hubo Lab's members. There is an optometry and glasses store on the KAIST campus. During our lunch, I mentioned that I may need a pair of new glasses to Junha and he was kind enough to suggest that we visit the glasses store. I tried out different styles of glasses and noticed that big and round frames are very popular among male Koreans. Junha explained that round frames are a trend now because they make guys look more open and friendly. I also noticed that medium length hair styles are also very popular for guys in Korea. If I have a chance, I want to visit a barber shop in Korea. | During a meal at the cafeteria, I had a rather serious discussion with Seoungwoo, a member of Hubo Lab. Seoungwoo asked me about my future plans and I half jokingly relied that I want to find a job with high wages and become rich because money equals happiness. Seoungwoo questioned the statement that money equals happiness and replied that he is content and happy with his current job as a researcher. Of course, that is his personal opinion and it probably does not represent the view of most Koreans. However, I believe his argument provided some insight into the Korean Cultural, a peaceful and respectful culture that is vastly different from the competitive capitalism of United States. |
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| ==== What I Learned about Myself ==== | ==== What I Learned about Myself ==== |
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| During the college semester, I rarely engaged myself in physical activities because I felt like I never have enough time. However, since coming to Korea, I dedicated myself to a healthier lifestyle by eating more healthy food and exercise more. So far, I was able to adhere to this pattern. I think this is a good opportunity to practice self-control and time management. | I missed the rain. The constant overcast sky, spontaneous downpour, and occasional thunderstorm this week reminded me how much I missed the rain. The region in China where I was born and lived for 12 years of my live have similar weather conditions as South Korea. It rarely rained in Las Vegas, therefore, I did not have the opportunity to reflect on this point before. However, now I am in South Korea, where the summer experience a raining season similar to my birthplace. I finally realized how much I missed rain. |
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| ==== Project Status ==== | ==== Project Status ==== |
| {{ :yuhang:ires2018:choreonoid_hubo2_demo.mp4 | 500}} | {{ :yuhang:ires2018:mocap1.jpg?500 |}} |
| | Last week, I learned how to use Vicon motion capture system from Hubo Lab member. At the start of this week, I sat up and calibrated 4 cameras for the mocap system and used them to capture myself performing some simple motions. I created 6 distinctive markers to track the position of my right shoulder, elbow, wrist, hip, knee, and foot. |
| During the first part of second week, I continued learning the source codes behind Hubo 2's program. This time, I focused on how to program Hubo 2 to play a series of motions in preparation for creating a dance demo. In order for Hubo 2 to perform a series of motion in real time, the targeted joint position at 0.005 seconds per frame must be continuous passed from the program to the joint motors. To test my program, I parsed the data from Hubo 2's old Gangnam Style and used it to run a simulation on Choreonoid. The demonstration showed that my modification of program can successfully read and play a series of motion. | {{ :yuhang:ires2018:mocap2.jpg?500 |}} |
| | I recorded myself performing some simple motions like lifting arm, lifting leg, and extending arm. I learned how to use Vicon mocap system SDK to export the data points. |
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| {{ :yuhang:ires2018:mocap.jpg?500 |}} | {{ :yuhang:ires2018:screenshot_from_2018-07-02_10-28-18.png?700 |}} |
| | The next step would be to use inverse kinematic and kinematic mapping to transfer these motions into robot joint angles. With the help of Hubo Lab members and Hyun Lee, I was able to find some examples of inverse kinematic functions with Hubo 2. I am currently studying these functions and learning how to use them to accomplish my goal. |
| I learned how to use motion capture system from Hyoin, a lab member at the Hubo Lab. I learned every step in the process of motion capture: | \\ |
| * Setup and calibrate each camera | \\ |
| * Calibrate the motion capture system | {{ :yuhang:ires2018:screenshot_from_2018-07-02_10-33-55.png?700 |}} |
| * Set system origin | Additionally, one Hubo Lab member asked me to collaborate with him on writing a tutorial on their wiki page for the process from installing Ubuntu OS and Xenomai to installing Choreonoid Simulator and writing a new PODO ALProgram. I will also upload the information to our wiki page once I am done with the process. |
| * Create markers and objects | |
| * Recording motion capture data | |
| Next week, I will record a simple motion using the motion capture system and translate motion data into joint data for Hubo. | |
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