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Exercise: Robot Programming

Kazu. TAKASHIO

Today’s Goal.. !  Learn and master how to code robot actions with the programming environment HeartToHeart 4..

!  Select one or two emotions from primitives, and design emotional representations - motions - for a robot from the Robot’s perspective..

!  Target is..

Today’s Target.. !  Humanoid Robots..

!  KONDO KAGAKU KHR-3HV Ver.2 !  Windows or “MacOS X + VM + Windows”

Basic Precautions.. !  DO NOT handle joints - servomotors - so roughly..

!  Save your motion data often!!

HeartToHeart 4 !  A motion is a sequence of poses..

Flow Diagram Project (PC)

Writing to ROM (RCB-4)

Edit Save

Build

Online Play

Re-edit

Play from Motion List

Save Project

Project Setup ・Create ・Import ・Save

Motion Data Management ・Save Motion Data ・Save Controller Button Data

Project Configuration ・Trimming / Mixing

Editing Motion File ・Creation / Editing / Saving Playing Motion

Write by Motion ・Writing a Motion ・Writing a Button Data

Write All Motions ・Writing Motions ・Writing Button Data

Editing a Motion / Teaching Mode !  Ex. Aisatsu -> Karate Aisatsu pose

!  1 -> 2 -> 1 !  1 -> 3 -> 1

Editing a Motion / Teaching Mode !  Copy the motion “Aisatsu”.. !  Edit each pose with Teaching Mode..