Tutorials

How to Setup Hubo Demo

How to Setup Hubo Demo


Hubo Demo Tutorial:

Figure 1: Switches ( On = Up, Off = Down )

        I.            Setup:

1.       Lift Hubo (9 inches off the ground)

2.       Ensure No Body Parts are Touching

3.       Turn on all power

                                                               i.      Body CPU

                                                             ii.      Head CPU

                                                            iii.      12V

                                                           iv.      Sensors

4.       Open C:/user/HUBO2/Hubo2.dsw

5.       Run Main Program (click on ! sign)

6.       Click Z-Phase in ““Main Dialog””

                                                               i.      Click Search for every joint EXCEPT THE HANDS

1.       Don’t click the next Search until “OK” is lit

2.       If “fault” is lit then click Search again

                                                             ii.      Click Exit

7.       Click CAN Off in “Main Dialog”

8.       Close Program

9.       Lower Hubo on to leveling plate

                                                               i.      Make sure leveling plate is level

10.   Turn off sensor switch

                                                               i.      Wait 5 sec

11.   Turn on sensor switch

12.   Restart Program

13.   Press CAN On in “Main Dialog”

14.   Lift Hubo (9 inches)

15.   Press ZMP Zero Set in “Main Dialog”

                                                               i.      Hubo will go into his squat position

                                                             ii.      Press FT Null

16.   Keep the ZMP Zero Set Dialog  Open

17.   Click FT Show in “Main Dialog”

                                                               i.      Check Values

1.       Mx = 0

2.       My = 0

3.       Fz = 0

4.       If Mx!=0, or My!=0,  or Fz!=0

a.       Press FT Null

                                                             ii.      Press Hide

18.   Put Hubo on leveling plate

                                                               i.      Make sure leveling plate is level

19.   Click Tilt Show in “Main Dialog”

                                                               i.      Do not touch Hubo

                                                             ii.      Click Start Compensation

                                                            iii.      Wait 10 Sec

1.       Inc Roll = -10 to 10

2.       Inc Pitch = 60 to 100

3.       If above is not true must re-calibrate the legs

a.       See the Calibration section of this tutorial

                                                           iv.      Click Hide

20.   Goto ZMP Zero Set Dialog

                                                               i.      DO NOT TOUCH HUBO

                                                             ii.      Click Start

                                                            iii.      Wait until (May take a few minutes)

1.       xZPM = 10

2.       yZPM = 0

3.       Acc Roll = 0

4.       Acc Pitch = 0

                                                           iv.      Click Set

                                                             v.      In newly opened dialog box click OK

                                                           vi.      Click Exit in “ZMP Zero Set” dialog

21.   Lift Hubo (9 inches)

22.   Remove leveling plate

23.   Lower Hubo on to the ground

                                                               i.      Give Hubo slack on his harness to allow for movement

      II.            Demonstration:

1.       Click Kirk Walk in “Main Dialog”

2.       Click Control Off

3.       Walking:

                                                               i.      To Move Forward

1.       Change Step Size to 30

2.       Click Forward

3.       Hubo will keep on moving until Stop is pressed

                                                             ii.      To Move backward

1.       Change Step Size to 30

2.       Click Backward

3.       Hubo will keep on moving until Stop is pressed

                                                            iii.      To turn CW

1.       Change Step Size to 30

2.       Click CW

3.       Hubo will keep on moving until Stop is pressed

                                                           iv.      To turn CCW

1.       Change Step Size to 30

2.       Click CCW

3.       Hubo will keep on moving until Stop is pressed

4.       Hand Gestures

                                                               i.      Set grip power = 3 (Recommended)

                                                             ii.      Use the Left/Right check box to control the given hand

1.       Check Left to control the left hand

2.       Check Right to control the right hand

                                                            iii.      Close Hand

1.       Press Hold on Hand

2.       Can only press once to reset the status of the button press Motion Button Activation

                                                           iv.      Open Hand

1.       Press Hold off Hand

2.       Can only press once to reset the status of the button press Motion Button Activation

                                                             v.      Hand Shake

1.       In “Main Dialog” click  FT Show

a.       Make sure:

                                                                                                                                       i.      Mx < 20

                                                                                                                                     ii.      My < 20

                                                                                                                                    iii.      Fz  < 20

b.      Click Hide

2.       In “Gestures Dialog” click Start Shake Hand

a.       Hand will rise

b.      If hand wants to be closed go to section II.3.iii

                                                           vi.      Shake Wrist

1.       Pick:

a.       Distance 10mm

b.      Speed 1Hz to 4 Hz

c.       Mode 1 = 1

                                                                                                                                       i.      Rotates wrist

d.      Mode 2 = 2

                                                                                                                                       i.      Circles wrist

e.      Mode 3 = 3

                                                                                                                                       i.      Wrist up and down

2.       Click Go

3.       To stop click Stop