Spring 2016 RoFi: Calibration

/in /by

Christopher Andelin (Project Manager)

Mario Ramirez (Systems Engineer)

Qui Du (Manufacturing Engineer)

Andrew Laqui (Electronics and Controls Engineer)

Henry Ruff (Electronics and Controls Engineer)

Calibration

Mario Ramirez (Systems Engineer)

Introduction

Before attempting to walk with RoFi, a calibration test must be done.  Using Robot Poser, Jonathan’s instructions and the calibration file (located below), perform the needed test and create your own calibration file.  This file will be RoFi’s starting/zero position for each routine in the future.  All future angles will be in reference to these zero frames.

Robot Poser:  http://www.projectbiped.com/prototypes/rofi/programs/robot-poser

This download includes the calibration file.

Jonathan Dowdall’s instructions: https://docs.google.com/document/d/1H0iGTlUO-VljwtqiN5W3QWxoLYYhNEEphhULrg87Wgc/edit

Blender File for RoFi calibration:

https://docs.google.com/file/d/0By_h1KTMNaWNcmlMS0FNWGJ5OVE/edit

This post is in reference to, https://www.arxterra.com/bipedal-robot-calibration/.

Our team’s calibration

Figure 1 shows RoFi in High Roll Position.

Figure 1: High Roll Position

Figure 2 shows that RoFi’s foot is level.

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Figure 2: Verifying Level Foot

Figure 3 shows RoFi’s leg is perpendicular to the table.

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Figure 3: Verifying Perpendicular Leg

Figure 4 shows RoFi in High Position.

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Figure 4: High Position