1. Department: FTI-FHO-FPT Presenter: Pham Van Trung
INTRODUCTION TO MOTION GENERATION FOR NAO ROBOT USING ANDROID FRAMEWORK
Department: FTI-FHO-FPT
Presenter: Pham Van Trung

2. Motor Stiffness Control
OUTLINE 1
Introduction 2
Motor Stiffness Control
Joint Angle Control 3 4
Position Control 5
Locomotion Control 6
Question and Comment

3. Introduction
Robot Models

4. Introduction Humanoid robot Have human model
Capable to perform as human

5. Introduction
NAO Humanoid Robot

6. Introduction Motions of NAO Robot
How to move an arm or a leg to a position?
Forward kinematic
Inverse kinematic
How to locate a position of the robot?

7. Introduction NAO Motion Module on Android Framework
Control Stiffness of Joint Motor
Control Joint Angle
Control Effector Position in Cartesian Coordinate
Locomotion control

8. Stiffness Control What is stiffness?
Basically, stiffness is a torque that a motor of joint can generate
Stiffness value relatively defined 0.0 to 1.0
Functions to control and manage stiffness
Globally, on the whole robot using: 
RobotMotionStiffnessController. wakeUp (Robot robot)
RobotMotionStiffnessController. rest (Robot robot)
Specifically, for one or several joint(s) using: 
RobotMotionStiffnessController. stiffnessInterpolation (Robot robot, String[] names, float[] stiffnesses, float[] times) float[]
RobotMotionStiffnessController. getStiffnesses (Robot robot, String name )
RobotMotionStiffnessController. setStiffnesses (Robot robot, String[] names, float[] stiffnesses)

9. Stiffness Control Example Using setStiffnesses()
names – Name or names of joints or chains: “Body”, “JointActuators”, “Joints” or “Actuators”: HeadYaw, LShoulderPitch, LHipYawPitch, RHipYawPitch, RShoulderPitch, HeadPitch, LShoulderRoll, LHipRoll, RHipRoll, RShoulderRoll, LElbowYaw, LHipPitch, RHipPitch, RElbowYaw, LElbowRoll, LKneePitch, RKneePitch, RElbowRoll,LWristYaw, LAnklePitch, RAnklePitch, RWristYaw, LHand, RAnkleRoll, LAnkleRoll, RHand.
Stiffnesses, stiffnessLists, – An stiffness, list of stiffnesses or list of list of stiffnesses. Range of stiffness value is within [0.0,1.0];

10. Joint Control What is joint control? Functions to control joint angles
Rotate a joint motor by a exact given angle
Forward kinematic control
Functions to control joint angles
Animation methods (time fixed, blocking function
RobotMotionJointController. angleInterpolation (Robot robot, String[] names, float[] angles, float[] times, boolean isAbsolute)
RobotMotionJointController. angleInterpolationWithSpeed (Robot robot,String[] names, float[] angles, float fractionMaxSpeed)
Reactive methods (could be changed every ALMotion cycle, non blocking function)
RobotMotionJointController. setAngles (Robot robot, String[] names, float[] angles, float fractionMaxSpeed)
RobotMotionJointController. changeAngles (Robot robot, String[] names, float[] angles, float fractionMaxSpeed)
RobotMotionJointController. closeHand (Robot robot, String hand)
RobotMotionJointController. openHand (Robot robot, String hand)

11. Joint Control Example Using angleInterpolation ()
names – Name or names of joints, chains as mentioned in the section 1.
angles – An angle, list of angles or list of list of angles in radians that will be varied. Range of angle variation is within [-3.14,+3.14] depending on an allowable range of a chosen joint. See more about joint of hardware specification.
times – A time, list of times or list of list of times in seconds. It must be greater than zero.
isAbsolute – If true, the movement is described in absolute angles in the default defined coordinate , else the angles are relative to the current angle.

12. Cartesian Control What is Cartesian control? Functions
Move an effector (chain of joints) to a given position in a Cartesian coordinate
Dealing with inverse kinematic problem
Functions
Animation methods (time fixed, blocking function
RobotMotionCartesianController. positionInterpolation (Robot robot, String name, int space, RobotPosition6D[] positionList, int axisMask, float[] durationList, boolean isAbsolute)
RobotMotionCartesianController. positionInterpolations (Robot robot, String[] names, int spaceForAll, RobotPosition6D[] positionList, int[] axisMaskList, float[] durationList, boolean isAbsolute)
Reactive methods (could be changed every ALMotion cycle, non blocking function)
RobotMotionCartesianController. setPosition (Robot robot, String name, int space, RobotPosition6D position, int axisMask, float fractionMaxSpeed)
RobotMotionCartesianController. changePosition (Robot robot, String name, int space, RobotPosition6D positionChange, int axisMask, float fractionMaxSpeed)

13. Cartesian Control Example Using positionInterpolation ()
Name – Name of the chain. Could be: “Head”, “LArm”, “RArm”, “LLeg”, “RLeg”.
space – Task space {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.
positionList – Vector of 6D position arrays (x,y,z,wx,wy,wz) in meters and radians.
axisMask – Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for both.
durationList – Vector of times in seconds corresponding to the path points.
isAbsolute – If true, the movement is absolute else relative.
Robot – is a connected robot. This variable is retrieved by calling the function Robot. getRobot().

14. Locomotion Control What is Locomotion control?
Move a robot in local place
Functions to manage walking
RobotMotionLocomotionController. moveTo (Robot robot, RobotMoveTargetPosition target)
RobotMotionLocomotionController. setWalkTargetVelocity (Robot robot, RobotMoveTargetPosition target, float speed)
RobotMotionLocomotionController. moveIsActive()
RobotMotionLocomotionController. stopMove()
RobotMotionLocomotionController. getRobotPosition (const bool& useSensors)
RobotMotionLocomotionController. getNextRobotPosition()
RobotMotionLocomotionController. getRobotVelocity()

15. Locomotion Control Examples SetWalkwithVelocity() MoveTo()
x – Fraction of MaxStepX. Use negative for backwards. [- 1.0 to 1.0]
y – Fraction of MaxStepY. Use negative for right. [-1.0 to 1.0]
theta – Fraction of MaxStepTheta. Use negative for clockwise [-1.0 to 1.0]
Frequency  – Fraction of MaxStepFrequency [0.0 to 1.0]
MoveTo()
x – Distance along the X axis in meters.
y – Distance along the Y axis in meters.
theta – Rotation around the Z axis in radians [ to ].

16. Questions and Comments
Thank for Your Attention