Webots中Spot或SpotMini案例-焦 虑 腾 空-
【摘要】 "Spot "机器人，此前被称为 "SpotMini"，是波士顿动力公司开发的一款四条腿的类似狗的机器人。
详细介绍的短视频在文末，如需简要了解，不必观看视频，个人一直觉得视频的时间成本很高，流量成本很高，制作成本也很高，这三高是相对于图文博客而言。
焦虑的Spot
这款敏捷的机器人身高83厘米，可以完成各种搜索、检查和运送任务。它能以前所未...
"Spot "机器人，此前被称为 "SpotMini"，是波士顿动力公司开发的一款四条腿的类似狗的机器人。
详细介绍的短视频在文末，如需简要了解，不必观看视频，个人一直觉得视频的时间成本很高，流量成本很高，制作成本也很高，这三高是相对于图文博客而言。
这款敏捷的机器人身高83厘米，可以完成各种搜索、检查和运送任务。它能以前所未有的速度攀爬楼梯和穿越崎岖的地形，但它的体型却足够小，适合在室内使用。它是一个坚固耐用的（IP54防尘和防潮保护）和可定制的平台。Spot可以去轮式机器人无法去的地方，同时携带的有效载荷的耐力远超空中无人机。最大速度为1.6米/秒，续航时间为90分钟，电池可更换。Spot使用5个立体摄像头（360度视觉），在动态工作场所移动时，可以避开障碍物和人。
附上参考网址（非点击打开的链接，请复制打开）
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教程说明：https://cyberbotics.com/doc/guide/spot
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模型网址：https://github.com/cyberbotics/webots/tree/master/projects/robots/boston_dynamics
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软件下载：https://cyberbotics.com/#download
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上图可以看到webots软件界面，腾空时前后摄像头的图像也在仿真窗口左上和右上显示。
如上运动效果的代码如下：
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/*
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* Copyright 1996-2020 Cyberbotics Ltd.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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/*
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* Description: Simple controller to present the Spot robot.
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*/
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#include <webots/camera.h>
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#include <webots/device.h>
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#include <webots/led.h>
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#include <webots/motor.h>
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#include <webots/robot.h>
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#define NUMBER_OF_LEDS 8
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#define NUMBER_OF_JOINTS 12
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#define NUMBER_OF_CAMERAS 5
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// Initialize the robot's information
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static WbDeviceTag motors[NUMBER_OF_JOINTS];
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static const char *motor_names[NUMBER_OF_JOINTS] = {
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"front left shoulder abduction motor", "front left shoulder rotation motor", "front left elbow motor",
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"front right shoulder abduction motor", "front right shoulder rotation motor", "front right elbow motor",
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"rear left shoulder abduction motor", "rear left shoulder rotation motor", "rear left elbow motor",
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"rear right shoulder abduction motor", "rear right shoulder rotation motor", "rear right elbow motor"};
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static WbDeviceTag cameras[NUMBER_OF_CAMERAS];
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static const char *camera_names[NUMBER_OF_CAMERAS] = {"left head camera", "right head camera", "left flank camera",
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"right flank camera", "rear camera"};
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static WbDeviceTag leds[NUMBER_OF_LEDS];
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static const char *led_names[NUMBER_OF_LEDS] = {"left top led", "left middle up led", "left middle down led",
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"left bottom led", "right top led", "right middle up led",
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"right middle down led", "right bottom led"};
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static void step() {
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const double time_step = wb_robot_get_basic_time_step();
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if (wb_robot_step(time_step) == -1) {
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wb_robot_cleanup();
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exit(0);
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}
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}
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// Movement decomposition
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static void movement_decomposition(const double *target, double duration) {
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const double time_step = wb_robot_get_basic_time_step();
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const int n_steps_to_achieve_target = duration * 1000 / time_step;
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double step_difference[NUMBER_OF_JOINTS];
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double current_position[NUMBER_OF_JOINTS];
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for (int i = 0; i < NUMBER_OF_JOINTS; ++i) {
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current_position[i] = wb_motor_get_target_position(motors[i]);
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step_difference[i] = (target[i] - current_position[i]) / n_steps_to_achieve_target;
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}
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for (int i = 0; i < n_steps_to_achieve_target; ++i) {
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for (int j = 0; j < NUMBER_OF_JOINTS; ++j) {
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current_position[j] += step_difference[j];
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wb_motor_set_position(motors[j], current_position[j]);
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}
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step();
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}
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}
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static void lie_down(double duration) {
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const double motors_target_pos[NUMBER_OF_JOINTS] = {-0.40, -0.99, 1.59, // Front left leg
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0.40, -0.99, 1.59, // Front right leg
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-0.40, -0.99, 1.59, // Rear left leg
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0.40, -0.99, 1.59}; // Rear right leg
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movement_decomposition(motors_target_pos, duration);
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}
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static void stand_up(double duration) {
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const double motors_target_pos[NUMBER_OF_JOINTS] = {-0.1, 0.0, 0.0, // Front left leg
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0.1, 0.0, 0.0, // Front right leg
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-0.1, 0.0, 0.0, // Rear left leg
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0.1, 0.0, 0.0}; // Rear right leg
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movement_decomposition(motors_target_pos, duration);
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}
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static void sit_down(double duration) {
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const double motors_target_pos[NUMBER_OF_JOINTS] = {-0.20, -0.40, -0.19, // Front left leg
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0.20, -0.40, -0.19, // Front right leg
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-0.40, -0.90, 1.18, // Rear left leg
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0.40, -0.90, 1.18}; // Rear right leg
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movement_decomposition(motors_target_pos, duration);
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}
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static void give_paw() {
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// Stabilize posture
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const double motors_target_pos_1[NUMBER_OF_JOINTS] = {-0.20, -0.30, 0.05, // Front left leg
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0.20, -0.40, -0.19, // Front right leg
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-0.40, -0.90, 1.18, // Rear left leg
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0.49, -0.90, 0.80}; // Rear right leg
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movement_decomposition(motors_target_pos_1, 4);
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const double initial_time = wb_robot_get_time();
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while (wb_robot_get_time() - initial_time < 8) {
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wb_motor_set_position(motors[4], 0.2 * sin(2 * wb_robot_get_time()) + 0.6); // Upperarm movement
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wb_motor_set_position(motors[5], 0.4 * sin(2 * wb_robot_get_time())); // Forearm movement
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step();
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}
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// Get back in sitting posture
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const double motors_target_pos_2[NUMBER_OF_JOINTS] = {-0.20, -0.40, -0.19, // Front left leg
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0.20, -0.40, -0.19, // Front right leg
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-0.40, -0.90, 1.18, // Rear left leg
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0.40, -0.90, 1.18}; // Rear right leg
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movement_decomposition(motors_target_pos_2, 4);
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}
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int main(int argc, char **argv) {
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wb_robot_init();
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const double time_step = wb_robot_get_basic_time_step();
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// Get cameras
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for (int i = 0; i < NUMBER_OF_CAMERAS; ++i)
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cameras[i] = wb_robot_get_device(camera_names[i]);
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// enable the two front cameras
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wb_camera_enable(cameras[0], 2 * time_step);
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wb_camera_enable(cameras[1], 2 * time_step);
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// Get the LEDs and turn them on
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for (int i = 0; i < NUMBER_OF_LEDS; ++i) {
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leds[i] = wb_robot_get_device(led_names[i]);
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wb_led_set(leds[i], 1);
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}
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// Get the motors (joints) and set initial target position to 0
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for (int i = 0; i < NUMBER_OF_JOINTS; ++i)
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motors[i] = wb_robot_get_device(motor_names[i]);
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while (true) {
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// lie_down(4.0);
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// stand_up(4.0);
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// sit_down(4.0);
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// give_paw();
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// stand_up(4.0);
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// lie_down(3.0);
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// stand_up(3.0);
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// lie_down(2.0);
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// stand_up(2.0);
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// lie_down(1.0);
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// stand_up(1.0);
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// lie_down(0.75);
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// stand_up(0.75);
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lie_down(0.5);
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stand_up(0.5);
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lie_down(0.4);
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stand_up(0.4);
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lie_down(0.3);
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stand_up(0.3);
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lie_down(0.2);
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stand_up(0.2);
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lie_down(0.1);
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stand_up(0.1);
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}
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wb_robot_cleanup();
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return EXIT_FAILURE;
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}
可以自己编程实现更多复杂的运动。
在Webots中使用Spot或Spotmini说明
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/106008877
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