dASA Genibo
The Genibo module provides an interface to the Genibo robot created by dASAROBOT and distributed by RoadNarrows. The Genibo a dog-like four-legged robot which has 15 motors and built in autonomous algorithms that provide the robot with a personality. It is also suitable for education such as creative and application programming as the Genibo-QD supports an open software development interface in cooperation with RoadNarrows LLC. The Genibo RoboRealm module leverages this interface to provide you with a quick and easy way to gain access to the Genibo's many sensors and actuators in order to re-program the robot for your own uses.
Interface
Instructions
1. Genibo - Use your remote control to press the menu button, the number 4 and the OK button. This will cause the Genibo to search for a wireless network with SSID dasa_genibo and WEP (security code) 1234567890. If the Genibo finds such a network it should respond with "Wireless LAN Connected" and continue in autonomous mode. Note that the Genibo has no Ethernet port so a wireless LAN is required. Also note that the wireless connection does not work when the Robot is connected to AC/Mains power.
2. IP Address / Username / Password - specify the appropriate IP address (192.168.1.2) which the Genibo should be using for its wireless IP address. Note that the default username is genibo with password 1234 unless you have changed this configuration.
3. Press the Start button and if all the settings are correct you will hear "Control Manager connected" being spoken from the Genibo. Once disconnecting the Genibo will again make a similar announcement that the connection has been terminated. Keep in mind that if this ever happens during testing that the network connection has probably failed in some way. When this happens the robot immediately goes into its autonomous mode which can cause significant confusion as to why the robot is not acting as desired.
4. Manual Move - there are three ways to move the robot. The manual move allows you to press the appropriate buttons and move the robot in the specified direction for one step.
5. Movement Variable - the second way to move the robot is to select
a movement variable. This variable should contain the following values which
mimic the manual move buttons. This style of automated movement control can be useful for
interfacing to interface devices like the keyboard or joystick.
6. Speed - select how quickly you want the robot to move.
7. Position - Press the appropriate button to move the robot into the desired configuration. This is the manual way of repositioning the robot within having to use the Movement Variable.
8. Manual Pan/Tilt (Head Tab) - Similar to the move buttons the head pan and tilt can be moved using the provided buttons.
9. Movement Variable - once again a variable is provided to automatically move the head in the desired direction.
10. Master Action (Commands Tab) - the third and final way to move the robot is to perform a particular Master Action file. The Master Action files are those movements that come pre-installed in the Genibo. Selecting a particular movement and press the perform button will cause the robot to act out that movement. This includes the basic movements of moving forward, left, right, etc. To automatically specify an action select a variable that will contain the name (i.e. Walk-walk step 1) which action to perform. Note that this variable's value is cleared after being used once.
11. User Action - If you have used the Genibo Control Manager to create custom movements you should see them appear in the User Action list. You will have to Stop and Start the connection to the Genibo in order to refresh this list if your action was added while the GUI module is running. By selecting the action and pressing the Perform button the robot will execute that particular user action. To automate the action, select a variable that will contain the name/title of the user action as seen in the dropdown list. When that variable contains a value that user action will be performed. Note that this variable's value is cleared after being used once.
12. Emoticon - Select an emoticon from the dropdown list and press the Set button in order to cause the Robot's eyes to reflect that Emoticon setting. If you wish to perform these actions automatically select a variable from the Variable dropdown (or type one in) that contains the Emoticon to set. This variable should contain the title of the emoticon (as seen in the dropdown list) to set. Note that this variable's value is cleared after being used once.
13. Sound - Select a sound from the dropdown list and press Play in order to cause the Robot to play that sound setting. If you wish play these sounds automatically select a variable from the Variable dropdown (or type one in) that contains the sound to play. This variable should contain the title of the sound (as seen in the dropdown list) to play. Note that this variable's value is cleared after being used once.
14. Tail LED Intensity (LED tabs) - Select the intensity/brightness value to set the tail leds to. Note that this applies to each of the 4 tail leds, left and right, red and blue. Zero indicates a value of highest brightness but 1 indicates the lowest light level with 128 being the most brightest again. Note that to switch the LED off you should use the LED period with a setting of 66 to do so. To automate the LED intensity select or type in a variable in the dropdown that would contain the value to set the LED intensity to.
15. Tail LED Period - To create the flashing frequency of the LED specify an appropriate value in the Period. A period of 0 is always on. A period of 1 indicates the fastest flashing with a period of 65 being the slowest frequency. Note that a period of 66 will effectively switch the LED off. To automate the LED period select or type in a variable in the dropdown that would contain the value to set the LED period to.
16. Body Touch Sensors - The Value checkboxes will reflect the state of the particular sensor. Back #1 - 4 indicate the state of the back sensors. Pressing one of the back sensors will cause the appropriate checkbox to become set. The Head sensor is between the robot's ears with the Left and Right sensors being on the left and right sides of the robot (essentially where you would grasp the robot to pick it up). If you want to use or send these sensor values select or type in a variable that will be used to contain the current state of the appropriate sensor. This variable can then be used in other modules to indicate or change the robot's state.
17. Body Sensors - The body sensors are used to interface with the other sensors on the robot. Using the TiltX and TiltY sensors you can view the results of the internal gyro that indicates if the robot is tilted in either the X or Y direction. Try picking up the robot while keeping an eye on these values to see how they change based on the orientation of the robot. This is how the robot can know if it has fallen or tipped upside down!
18. Remote Key - Indicates the key pressed on the Genibo remote. You can use this sensor as a way to create custom actions based on the key pressed on the remote. Select or type in a variable that will contain the key's value if you want to use this value in other modules.
19. Distance - The Distance or PSD sensor indicates any objects in front of the Genibo. The actual sensor is located in the Robot's chest. Note that for really close objects (<15) the IR sensor will provide false readings. This sensor is what the Genibo uses for obstacle avoidance. Because the sensor is aimed in a diagonal way the sensor can also be used to detect the absense of the floor which is useful for avoiding cliffs. Due to this positioning the robot will NOT see any objects at head level such as low overhanging tables (i.e. coffee tables). Mirrors that reflect light will also confuse the Robot into thinking the path is clear.
20. Paw Touch Sensors - On the bottom of each foot or paw there are microswitches that are triggered when the leg touches a hard surface. The Paw tab will indicate the state of these sensors. When the switch is triggered the checkbox will indicate a set state (1) whereas when the foot is not touching the value will be unset (0). You can use these sensors to tell if the foot is touching the floor. Note, however, that thick carpet does not provide enough resistance to trigger these switches so care should be taken when relying on these sensors. To use these sensor values in other modules select or type in a variable that will contain the switches state.
21. Battery - The battery indicator will show the battery level as a value and a progress indicator based on a 100% full battery. If you wish to change the behavior of the robot based on the battery value you can select or type in a variable that will contain the battery value. Note that when the robot is at a low battery level the autonomous mode will override the control manager and start the low battery sequence which will lower the robot into a lying position. If you find that the robot suddenly lies down contrary to your commands check the battery level. In our tests we got about 1 1/2 hour of battery life from the robot before battery life would fall below operational level.
22. Volume - Specify the appropriate volume level to which the robot should play sounds and report other states (such as connecting or disconnecting Control Manager). To automate the adjustment of intensity you can use the [variable] expression in the text box in order to have the module read the value from a variable instead of using a set value.
Examples
For more information
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