Walk Group 1

Members: Nicole Carter (nvc), Jack Ferris (jhferris), Corey Montella (cmontell)

Description: We will be trying to generate a more stable walk for the NAOs

491walk.cpp


 * 1) include "almotionproxy.h"

void CM491_InitWalkParams(AlPtr mp) {	mp->setWalkArmsConfig(100.0* motion.TO_RAD,							 15.0* motion.TO_RAD,							  30.0* motion.TO_RAD,							  10.0* motion.TO_RAD); mp->setWalkArmsEnable(true); float LenghtStep = 0.058; float StepHeight = 0.016; float TurnByStep = 0.18; float SideStepLength = 0.00; float HipHeight = 0.21; float TorsoYOrientation = 3.0;

mp->setWalkConfig(LenghtStep,                               StepHeight,                                SideStepLength,                               TurnByStep,                               HipHeight,                               TorsoYOrientation); mp->setJointStiffness("RKneePitch", .8); mp->setJointStiffness("LKneePitch", .8); }

void CM491_walk(AlPtr mp,float n) { int Speed = 32; mp->addWalkStraight(n, Speed); mp->walk; }

void CM491_turn(AlPtr mp,float t) { mp->addTurn(t,40); mp->walk; }

491walk.h


 * 1) ifndef 491_WALK_H
 * 2) define 491_WALK_H
 * 3) include 

void CM491_InitWalkParams(AlPtr motion); void CM491_walk(AlPtr mp,float n); void CM491_turn(AlPtr mp,float t);


 * 1) endif

491walk.py

""" A basic wrapper on walk and turn functions created by Jack Ferris, Corey Montella, and Nicole Carter for the 15-491 CMRobobits course. The parameters used have been tuned to optimize the aldebaran walk in the REL lab

All functions take a motionProxy as an argument """ from naoqi import ALProxy


 * 1) Create proxy to ALMemory


 * 1) Walk arm configuration

def CM491_InitWalkParams(mp): motionProxy = mp   motionProxy.setWalkArmsConfig(100.0 * motion.TO_RAD,                                   15.0 * motion.TO_RAD,                                   30.0 * motion.TO_RAD,                                   10.0 * motion.TO_RAD ) motionProxy.setWalkArmsEnable(True) LenghtStep = 0.058 StepHeight = 0.016 TurnByStep = 0.18 SideStepLength = 0.00 HipHeight = 0.21 TorsoYOrientation = 3.0

motionProxy.setWalkConfig( LenghtStep,                               StepHeight,                                SideStepLength,                               TurnByStep,                               HipHeight,                               TorsoYOrientation) motionProxy.setJointStiffness("RKneePitch", .8) motionProxy.setJointStiffness("LKneePitch", .8)

def CM491_walk(mp,n): Speed = 32 mp.addWalkStraight(n, Speed) mp.walk  #Blocking Function

def CM491_turn(mp,t): mp.addTurn(t,40) mp.walk;