User-defined Motions 1 : Create Motion

Prerequisite : Walking Machine Motions will be added to the motion file used in the "Walking Machine" section. Review the "Walking Machine" section before getting started. [ Learning Goal ] Add a new motion using RoboPlus Motion Lets learn how to add the follwing 4 motions using the RoboPlus Motion program. Motion Page No 14 16 1. Motion File : Movement Description Block ball on the right Block ball on the left 3. M 27 28 Turn off all motors,

Movement

Get up while l

Get up while

BIO_PRM_UserMotionExam_EN.mtn2. To add the Block

Ball motion in page 14, input a name and step. 4.

then set the robots pose. The "Block ball on the right" pose is shown below. Set the robots pose as above. When you press the "torque on" button, the robots current actuator values will automatically be saved. When you press the left arrow button, you can read the robots current input actuator values into Steps Pose column. 2. You can adjust the pause and play durations. (Click here for more information on STEP STOP/PLAY) 6. Designating the NEXT page as itself(14) will cause the robot to enter an infinite loop and maintain its pose. Also designate an EXIT page for the robot to smoothly transiton into when it exits the infinite loop. 3.Make a motion to return to the standard position on the page designated as the Exit page (15). Add the following 3 steps and poses to page 15. Additional settings (Number of Repeats, Play Speed, etc)You can also set the number of repeats, entire speed, etc. for each page. [ STEP 2 ] [ STEP 3 ] [ STEP 4 ] Make a motion to block a ball on the left Make motions to get up when the robot lying on its back and chest. Save