Bioloid

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The Bioloid is a configurable robot package that allows you to create biped, spider, or wheeled robots. The LRC can created a way to interface and control the Bioloid robot from Calico. The website for the Bioloid Premium Kits can be found here: http://support.robotis.com/en/product/bioloid/bioloid_prem_main.htm

Connect to Bioloid

To connect to the Bioloid you will need the LRC version of Calico. The following is a guide to connecting to the Bioloid Robot from the LRC room.

Scorpion Bioloid Commands

The following commands relate to the Scorpion Bioloid Configuration. Only a few commands have been implemented.

Some Sample Code: File:Scorpio

Movement Commands

For the following commands the first parameter sets the speed of the robot and the second sets how many seconds to perform the action.

forward(1,2)
backward(2,3)
turnLeft(1,0.4)
turnRight(2,0.2)

Sensor Commands

d=getDistance()

Returns distance sensor on the head of the Scorpion robot.

m=getMicrophone()
b=getButton()

Returns the number of sounds and buttons being pressed on the robot.

You can also request all the sensors values at once. Where values is a list of sensor values corresponding to distance, mircophone, or button.

values=get("all")

Servo Commands

You can manually set the position of servos or query information about them.

setServo(18,180)

The first value is the servo you want to set and the second is the degree you want it to go to.

servo(18,500)

This command also sets the position of a servo, but does so in a range from 0 to 1024.

data=getServo(18)

The command above queries servo 18 and returns a list of values about the servo such as

[Is Moving,Current position,Goal Position,Load,Torque (on/off), voltage, Led]

TODO: Add goal position

Other Commands

The following are other miscellanous commands.

beep(1,1) 
beep(1,2)

The beep command takes two parameters; a duration and a note. Notes are values between 1-16.

setLEDAUX(True)
setLEDAUX(False)

Turns the AUX LED on the robot on and off.

Special Commands

The following are special commands

special("claw")
special("strike")
special("alert")
special("playdead")

Bioloid Challenges

Obstacle Avoidance

Use the Bioloid movement commands along with getDistance() commands to get the robot to do obstacle avoidance or wall following.

Gait Generation

Use the setServo() commands to generate new gaits for the robot.

Hacking the Bioloid

The following will be updated as needed.

TODO: Add .tsk code and Calico code that performs interface.

Movement Files

Task Script

Calico Interface

Old Info

Old information regarding work by ACM can be found here: http://cobi.cs.uwyo.edu/lrc/index.php/BioloidOld