Roger-the-Crab download your copy of the Roger simulator from - - PDF document

Laboratory for Perceptual Robotics – Department of Computer Science

Rod Grupen Department of Computer Science University of Massachusetts Amherst

Roger-the-Crab

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Un-Crating Roger - C and X windows

Platforms:

• OS X, Linux, Windows (Cygwin ||dual-boot/VM Linux)

Getting Started:

• download your copy of the Roger simulator from

www-robotics.cs.umass.edu/~grupen/603/code/roger-2020.tar

• unpack the compressed directory

tar -xvf roger-2020.tar

• make the simulator and your projects (as in README)
• cd roger-2020/RogerSimulator

> make clean; make <CR> >cd roger-2020/RogerClient > make clean; make <CR> > cd ../RogerProjects > make clean; make <CR>

• run the simulator (e.g. from README)

>“./RogerSimulator/simulator 1 1 <CR>” > “./RogerProjects/roger 127.0.0.1 8000<CR>”

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The Simulator Environment

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The Simulator Environment

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configuration space left button (q1,q2) (q1) right button −π +π +π −π

Input Modes: Joint Angle inputs

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Input Modes: Base goals

Cartesian space (x,y) world frame

Input: Base goal

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Input Modes: Arm goals

Cartesian space right button (x,y) left button (x,y) right arm left arm world frame

Input: Arm goals

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Input Modes: Introducing an Object (Ball)

Cartesian space

Input: Ball position

world frame

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Input Modes: Map Editor

Input: Map editor

goals

• bstacles

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Control Modes

Project-specific control

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Environmental Maps

different rooms

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Command line I/O

accurate setpoints, gains, etc

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Project Specific Visualization

project/user defined tools location uncertainty path plans potential maps

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Terminating

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Roger-the-Crab - Kinematic Definition

./include/roger.h

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U U

Afferents

eyes:

• θ[2], θ[2], images[2][128][3]

arms:

• θ1[2], θ1[2], θ2[2], θ2[2]
• tactile (force) sensors: f[2] R2

mobile base:

• position (x, x, y, y), orientation (θ, θ)
• bump (force) sensor: f R2

. . . . . .

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Efferents

eye torques:

• τ[2]

arm torques:

• τ1[2], τ2[2]

mobile base:

• wheel torques τ[2]

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Robot Interface: Project #1, #2

• eye joint angles/velocities
• images
• arm joint angles/velocities
• tactile (force) sensors
• base position (x,y), orientation (θ)
• bump (force) sensor
• eye motor torques
• arm motor torques
• wheel torques

simulator applications (MotorUnits.c) always

• n

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Control Interface - include/control.h

typedef struct Robot_interface { // SENSORS double eye_theta[NEYES]; double eye_theta_dot[NEYES]; int image[NEYES][NPIXELS][NPRIMARY_COLORS]; /* rgb */ double arm_theta[NARMS][NARM_JOINTS]; double arm_theta_dot[NARMS][NARM_JOINTS]; double ext_force[NARMS][2]; /* (fx,fy) force on arm endpoint */ double base_position[3]; /* x,y,theta */ double base_velocity[3]; // MOTORS double eye_torque[NEYES]; double arm_torque[NARMS][NARM_JOINTS]; double wheel_torque[NWHEELS]; // TELEOPERATOR int button_event; double button_reference[2]; // CONTROL MODE int control_mode; int input_mode; Map world_map, arm_map[NARMS]; // REFERENCE VALUE double base_setpoint[3]; /* desired world frame base position (x,y,theta) */ double arm_setpoint[NARMS][NARM_JOINTS]; /* desired arm joint angles */ double eyes_setpoint[NEYES]; /* desired eye pan angle */ } Robot; typedef struct _map { int occupancy_map[NBINS][NBINS]; double potential_map[NBINS][NBINS]; int color_map[NBINS][NBINS]; } Map;

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Hierarchical Control

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MotorUnits.c

control_roger() control_base() control_arms() control_eyes() simulator control torques

Σ

current sensory state higher-level reference inputs + _

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Cumulative Project Work

1. motor units 2. Cartesian goals 3.

• culomotor behavior

4. visual reconstruction - triangulation 5. “hunting” - integrated behavior 6. …

• ptions:
• 1. path planning
• 2. learning
• 3. Pong

4.…