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Table of Contents

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

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

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

courses/hro/tutorials/1icubtraining.txt · Last modified: 2022/03/01 09:58 by rozlijak