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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.

Week 2

  1. Docker - check installations, functionality, etc.
  2. YARP + iCub basics
    • Introduction to YARP middleware yarp.pdf
    • YARP basics
      • This tutorial shows some of the basic features of YARP, usually required when dealing with a robot.
    • 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.
    • yarpmanager
      • This tutorial will quickly guide you to use yarpmanager to run Yarp applications. Write fakeFrameGrabber instead of test_grabber in yarpdev parameters.
      • Try the same also with How YARP communicates

Week 3

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

Week 4

  1. Grasp_it! assignment
  2. HW1 questions
  3. HW 2 - Operational control with iCub
courses/hro/tutorials/1icubtraining.txt · Last modified: 2023/03/14 15:21 by rustlluk