Author Topic: dancing robot movement  (Read 2841 times)

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Offline darrenwongTopic starter

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dancing robot movement
« on: September 21, 2011, 07:39:34 PM »
Any kind soul out there can help me with my programming? i need codes for humanoid dancing robot movement thanks!!!
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Offline darrenwongTopic starter

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Re: dancing robot movement
« Reply #1 on: September 22, 2011, 09:18:11 PM »
Quote from: darrenwong on September 21, 2011, 07:39:34 PM
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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Offline newInRobotics

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Re: dancing robot movement
« Reply #2 on: September 23, 2011, 04:29:26 AM »
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, but it will be no use for You if you have different robot (or even same robot, but "dancing" on a different surface).

Code: [Select]
'== 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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"Computer games don't affect kids; I mean if Pac-Man affected us as kids, we'd all be running around in darkened rooms, munching magic pills and listening to repetitive electronic music." - Kristian W

Offline darrenwongTopic starter

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Re: dancing robot movement
« Reply #3 on: September 28, 2011, 08:48:51 PM »
okay thank you very much dude!! :D Can i take  a look at your video? maybe youtube or anywhere? :D :D :D
« Last Edit: September 28, 2011, 08:52:24 PM by darrenwong »
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Offline newInRobotics

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Re: dancing robot movement
« Reply #4 on: September 29, 2011, 12:22:59 AM »
Quote from: darrenwong on September 28, 2011, 08:48:51 PM
Can i take  a look at your video? maybe youtube or anywhere? :D :D :D
Don't have any videos  ;D
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"Computer games don't affect kids; I mean if Pac-Man affected us as kids, we'd all be running around in darkened rooms, munching magic pills and listening to repetitive electronic music." - Kristian W
 

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