Society of Robots - Robot Forum
Software => Software => Topic started by: darrenwong on September 21, 2011, 07:39:34 PM
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Any kind soul out there can help me with my programming? i need codes for humanoid dancing robot movement thanks!!!
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Any kind soul out there can help me with my programming? i need codes for humanoid dancing robot movement thanks!!! or any website for this program ?? i am using keil vision4.
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Well, there's no generic code for dancing humanoid robot. As there are many different humanoid robots, there are many different codes, because every different humanoid has different weight and balance point, hence needing different positioning of servos. I'm afraid You'll have to write code Yourself, as You are THE person working with that specific type of humanoid.
Here's the code I wrote for Robonova-I (http://robonova.co.uk/), but it will be no use for You if you have different robot (or even same robot, but "dancing" on a different surface).
'== box waltz male steps ================================
PTP SETON
PTP ALLON
'== motor diretion setting ======================
DIR G6A,1,0,0,1,0,0
DIR G6B,1,1,1,1,1,1
DIR G6C,0,0,0,0,0,0
DIR G6D,0,1,1,0,1,0
'== motor start position read ===================
GETMOTORSET G6A,1,1,1,1,1,0
GETMOTORSET G6B,1,1,1,0,0,0
GETMOTORSET G6C,1,1,1,0,0,0
GETMOTORSET G6D,1,1,1,1,1,0
SPEED 5
'== motor power on =============================
MOTOR G24
GOSUB standard_pose
DELAY 3000
GOSUB ask_to_dance
GOSUB dance_pose
DELAY 2000
'================================================
MAIN:
GOSUB dance_pose
GOSUB forward_step
GOSUB right_shift
GOSUB dance_pose
WAIT
GOSUB backward_step
GOSUB left_shift
GOSUB dance_pose
WAIT
GOTO MAIN
'================================================
forward_step:
SPEED 5
MOVE24 85, 71, 152, 91, 112, 60, , , , , , , , , , , , , 112, 76, 145, 93, 92, 60,
SPEED 14
'left up
MOVE24 90, 107, 105, 105, 114, 60, , , , , , , , , , , , , 114, 76, 145, 93, 90, 60,
'---------------------------------------
'left down
MOVE24 90, 56, 143, 122, 114, 60, , , , , , , , , , , , , 113, 80, 145, 90, 90, 60,
MOVE24 90, 46, 163, 112, 114, 60, , , , , , , , , , , , , 112, 80, 145, 90, 90, 60,
SPEED 10
'left center
MOVE24 100, 66, 141, 113, 100, 100, , , , , , , , , , , , , 100, 83, 156, 80, 100, 100,
MOVE24 113, 78, 142, 105, 90, 60, , , , , , , , , , , , , 90, 102, 136, 85, 114, 60,
SPEED 14
'right up
MOVE24 113, 76, 145, 93, 90, 60, , , , , , , , , , , , , 90, 107, 105, 105, 114, 60,
RETURN
'================================================
right_shift:
SPEED 5
GOSUB right_shift2
GOSUB right_shift3
GOSUB right_shift4
GOSUB right_shift5
GOSUB right_shift6
RETURN
'================================================
right_shift2:
MOVE G6A,110, 92, 124, 97, 93, 70
MOVE G6D, 76, 72, 160, 82, 128, 70
WAIT
RETURN
right_shift3:
MOVE G6A, 93, 76, 145, 94, 109, 100
MOVE G6D, 93, 76, 145, 94, 109, 100
WAIT
RETURN
right_shift4:
MOVE G6D,110, 92, 124, 97, 93, 70
MOVE G6A, 76, 72, 160, 82, 128, 70
WAIT
RETURN
right_shift5:
MOVE G6A, 86, 83, 135, 97, 114, 60
MOVE G6D,113, 78, 145, 93, 93, 60
WAIT
RETURN
right_shift6:
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D,112, 76, 145, 93, 92, 60
WAIT
RETURN
'================================================
backward_step:
GOSUB backward_walk6
SPEED 7
GOSUB backward_walk7
GOSUB backward_walk8
GOSUB backward_walk9
SPEED 13
GOSUB backward_walk2
RETURN
'================================================
backward_walk2:
MOVE G6A, 90, 107, 105, 105, 114, 60
MOVE G6D,113, 78, 145, 93, 90, 60
WAIT
RETURN
backward_walk9:
MOVE G6A, 90, 56, 143, 122, 114, 60
MOVE G6D,113, 80, 145, 90, 90, 60
WAIT
RETURN
backward_walk8:
MOVE G6A,100, 62, 146, 108, 100, 100
MOVE G6D,100, 88, 140, 86, 100, 100
WAIT
RETURN
backward_walk7:
MOVE G6A,113, 76, 142, 105, 90, 60
MOVE G6D,90, 96, 136, 85, 114, 60
WAIT
RETURN
backward_walk6:
SPEED 2
MOVE G6A, 112, 76, 145, 93, 92
MOVE G6D, 85, 71, 152, 91, 112
WAIT
SPEED 6
MOVE G6A,112, 78, 145, 93, 92, 60
MOVE G6D,90, 107, 105, 105, 114, 60
RETURN
'================================================
left_shift:
SPEED 5
GOSUB left_shift2
GOSUB left_shift3
GOSUB left_shift4
GOSUB left_shift5
GOSUB left_shift6
RETURN
'================================================
left_shift2:
MOVE G6D, 110, 92, 124, 97, 93, 70,
MOVE G6A, 76, 72, 160, 82, 128, 70,
WAIT
RETURN
'---------------------------
left_shift3:
MOVE G6A, 93, 76, 145, 94, 109, 100,
MOVE G6D, 93, 76, 145, 94, 109, 100,
WAIT
RETURN
'---------------------------
left_shift4:
MOVE G6A, 110, 92, 124, 97, 93, 70,
MOVE G6D, 76, 72, 160, 82, 128, 70,
WAIT
RETURN
'---------------------------
left_shift5:
MOVE G6D, 86, 83, 135, 97, 114, 60,
MOVE G6A, 113, 78, 145, 93, 93, 60,
WAIT
RETURN
'---------------------------
left_shift6:
MOVE G6D, 85, 71, 152, 91, 112, 60,
MOVE G6A, 112, 76, 145, 93, 92, 60,
WAIT
RETURN
'================================================
dance_pose:
MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
MOVE G6B, 190, 78, 81
MOVE G6C, 161, 28, 61
WAIT
RETURN
'================================================
ask_to_dance:
MOVE G6C, 140, 15, 80
MOVE G6C, 140, 10, 40
MOVE G6B, 165, 10, 80
WAIT
SPEED 2
MOVE G6A, 100, 56, 145, 133, 100
MOVE G6D, 100, 56, 145, 133, 100
MOVE G6B, 175, 10, 80
WAIT
DELAY 2000
SPEED 2
MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
WAIT
SPEED 4
MOVE G6B, 160, 10, 80
MOVE G6C, 125, , 87
WAIT
RETURN
'================================================
standard_pose:
MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
MOVE G6B,100, 30, 80, 100, 100, 100
MOVE G6C,100, 30, 80, 100, 100, 100
WAIT
RETURN
'================================================
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okay thank you very much dude!! :D Can i take a look at your video? maybe youtube or anywhere? :D :D :D
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Can i take a look at your video? maybe youtube or anywhere? :D :D :D
Don't have any videos ;D