15-494 Cognitive Robotics
Part I: Stare At Paw Demo
Run the "stare at paw" demo at Root Control > Mode Switch > Kinematics Demos > New Stare At Paw. Hold and press the button on one of the two front legs; this makes the leg go limp. Now move the leg around and observe that the head moves to keep the paw centered in the camera image. Use the RawCam viewer, and make sure Emergency Stop is off.
Review the source code for this demo, which is in Tekkotsu/Behaviors/Demos/StareAtPawBehavior2.cc.
Part II: Inter-Paw Distance Demo
Compile and run the demo program in the Kinematics chapter of the Tekkotsu tutorial that calculates the distance between the dog's two front paws.
Run the behavior with the dog in Emergency Stop mode so you can move the front legs together and apart. Observe the result.
Part III: Sobriety Test
Get the AIBO to stare at (track by moving the head) a "ball" (or any color easter egg -- I suggest the green ones) using any code you like. (For example, you could use some of the demo code for chasing the pink ball.) As you move the ball around, with the AIBO sitting on its stand, the head should swivel to follow it. Now, every 5 seconds, freeze the heand and move the AIBO's left front paw up so that the toe just touches the lower lip. (Hint: use getJointInterestPoint and solveLinkPosition.) Hold the paw there for 2 seconds, then move the paw back down to a neutral position, and resume tracking the pink ball.
Part IV: Can't Touch This
In this exercise you will have the AIBO support itself on three legs, freeing the fourth leg to tap the top of an orange easter egg half. We have supplied a posture file SITUP.POS to establish the desired posture.
Turn in your answers to parts III and IV by March 31.
Dave Touretzky and Ethan Tira-Thompson