Chetna Kaur

Problem Statement
• Set up a Wireless Communication
Interface for PC-Bioloid communication.
• Dynamically control the Bioloid’s movements from an external program using wireless communication.
• Build an interface for c5m based systems to interface with and dynamically control the Bioloid.

The Bioloid Kit
• Easy to configure into a variety of robotic creatures.
• Can interact with surroundings while performing complex movements [18 Servos].
• Head contains a sensor module which features an infrared receiver.
• Also has three proximity sensors (left, right and front) that can measure distance and luminosity.
• The brain of the Bioloid is the CM-5 module which runs an
Atmel ATMega128 based mcu.

Programming the Bioloid
• A full motion editor to program your own custom movements
• Visual programming environment for behavior logic.
• A Terminal for configuration of components and other maintenance tasks.

Motion Editor
• Capture the current positions of the motors/ Pose of the robot.
• Build frame-by-frame Motion
Sequences
• Complex animations can be quickly programmed and tested.
• Motions can be downloaded into the Bioloid's memory and called from the Behaviour Control
Program.

Behavior Control Program
• A graphical programming environment to control the behaviour of the bioloid.
• Allows the programmer to transition the state of a the robot when a particular stimulus or events is triggered.

Building the Wireless
Interface
• Bioloid supports the Zig-100 Wireless
Communication Module
• Supports ZigBee Communication Protocol

Building the Wireless
Interface
– Install one Zig-100 module in the Bioloid robot's CM-5 control module.
– Connect the second Zig-100 to a Zig2Serial adapter.
– Install and configure the USB2Dynamixel module.
– Use the USB2Dynamixel converter between the PC and the Zig2Serial Board.
– Configure the Zig100 module from the Terminal program
– Issue commands to the robot via the computer's serial port!

Zig 100 Communication
Protocol
• CM5 is programmed to send and receive integers (0-65535) using Zig100.
• Packet format explained with example
The data in this example is integer 2049 = 01 + 256decimal * 08
Here is the CM5/Zig100 format, as hex bytes:
FF 55 01 FE 08 F7 where:
FF 55 is the header.
FE is checksum for 01 -> 255decimal - 01 = FE
(i.e. Complement of byte)
F7 is checksum for 08 -> 255decimal - 08 = F7
(i.e. Complement of byte)

Algorithm for PC-Bioloid
Communication
Open Serial Port
Set baud rate to 57142
Loop
If input from keyboard/other program
Begin
Accept Input
Code it to CM5 format
Write to Serial Port
End
If input from USB Serial Port Then
Begin
Read it
Decode CM5 format
Do processing
End
End Loop

Behavior Control Program to receive data
• Show Development Environment
Now

Protocol to drive the motors
• Essential to define the protocol/commands for communication between an external program and Bioloid.
• Currently defined for communicating positions of the 18
Motors.
• Command = Motor Id *1024 + Motor Position
• Encode (Motor Id and Position) and send from PC-based program.
• Receive and decode in Behavior Control Program.
• Set the Motor’s position!

Interfacing with the C5M code base
C5M Based
System
Inter
Robot
Comm
Protocol
Interface Zig Bee
Protocol
CM5/ Bioloid

Interface Design
Interface Manager Config
IRCP UDP Module
(Receiver)
Joint Positions
Handler
Serial
Communication
Module
C5M Based System
(IRCP UDP Sender)
Zig100

IRCP
• Essentially designed for Inter-module communication in Interactive Robots
• Protocol is based on UDP – can be used for communication between multiple processes on a single computer and between different computers

IRCP Packet Format

Motion Control Using IRCP
• Motor System will work in a slave mode.
• All modules that communicate with a motor system will have agreed on a set of joint names.
• The Master will request a Motor System Information sub-packet from the motor system (slave), which will list the names of the joints supported by the motor system and assign each one an integer index.
• The master will verify that the joint names are as expected and assign indices to each of these motors.
• All future communication with the motor system will refer to each joint by its index for efficiency.
• Once this is set up the Master can now send messages to Set The Joint
Positions (and also several other messages).

Setting Motor Positions
• Minor Type: SET_TARGET_POSITIONS
• Subpacket Payload contains Index Matched
Array
Index 1 Value 1 Index 2 Value 2 ……….
Index n Value n
• Index = Motor Id; Value = Motor Position

Mapping Motors
• Need to map the Motion of the C5M based robot to the Bioloid
• Motor Map used to Map Motor Ids.
Read from config file and and installed on start-up.
• Map the motor positions.

Encode and Send to CM5
• Maintain a map of the last values which were sent for each of the motors of the Bioloid.
• Encode and send messages to CM5 for every motor whose position has changed.
• CM5 will decode the message and set the motor position.

Interfacing with the
Huggable
Bioloid Huggable
Request Motor
Information (Minor
Type: MOTOR_NAMES )
Send Indexed Array containing
Huggables Motor
Names (Minor Type :
REQUEST_RESPONSE )
Send target positions for Huggable Motors
( SET_TARGET_POSITION )
Interface
Map to
Bioloid
Motors
Send Motor Positions to Bioloid

Huggable’s Motors
public static final String[] motorNameMap = new String[] {
“neckUpDown", "neckTwist", "neckLeftRight",
"rEarUpDown", "lEarUpDown", "rEyebrowRotate",
"lEyebrowRotate", "lshoulderUpDown", "rshoulderUpDown",
"rshoulderRotate", "lshoulderRotate", "lhipLeftRight",
"rhipLeftRight", "lhipUpDown", "rhipUpDown",
"rAnkleUpDown", "lAnkleUpDown"
};
Currently we ignore most of these and map only lshoulderUpDown, rshoulderUpDown, rshoulderRotate, lshoulderRotate to the Bioloid Motors

Demo
• Show Demo Now!