Table of Contents

Humanoid Robot Programming

Humanoid Robot Programming

We will work in the docker environment you prepared in Docker tutorial.
All lab tutorials can be found in our Gitlab.

Goals

Become acquainted with Yet Another Robot Platform.
Control humanoid robot both in joint and operational space.
Implement traditional methods to solve Inverse Kinematics problem.

Yet Another Robot Platform (week 2)

Introduction to YARP middleware yarp.pdf

Tutorial	description
How YARP communicates	This tutorial helps you understand the behavior of different types of ports.
YARP support classes	This tutorial will show you YARP support classes for handling command line parameters and writing modules that perform periodic activities and respond to network commands.
YARP basics	This tutorial shows some of the basic features of YARP, usually required when dealing with a robot.
yarpmanager	This tutorial will quickly guide you to use yarpmanager to run Yarp applications. Write fakeFrameGrabber instead of test_grabber in yarpdev parameters.

Robot control I (week 3)

iCub Motor Control motor-control.pdf

Joint interface

This tutorial will guide you to the use of Motor Interfaces to control the iCub movements in the joint space.

Cartesian interface

This tutorial will guide you to the use of Cartesian Interface component that enables the control of the iCub arms in the Operational Space.

HW 1

Develop a simple module that moves the iCub arm.

Robot control II (week 4)

Gaze control tutorial

This tutorial will guide you to the use of Gaze Interface component that enables the control of the iCub gaze.

HW 2

Develop a module that employs the Joint Interface, the Cartesian Interface, and the Gaze Interface to accomplish the given task.

Inverse kinematics (week 5)

Inverse kinematics tutorial

This tutorial will guide you through the practical implementation of those methods that are traditionally employed to solve the Inverse Kinematics problem.

HW 3

Design a controller, which implements a suitable Inverse Kinematics algorithm to meet the given requirements.