ISR Bioloid Humanoid - Revision history

Clusher: /* LibBioloid */

2009-08-06T10:13:48Z

LibBioloid

← Older revision		Revision as of 10:13, 6 August 2009
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	Changing CM-5 Firmware		Changing CM-5 Firmware
	Flashing Gumstix		Flashing Gumstix
			Compliance
			Communications and balance experiments

Clusher at 14:59, 31 July 2009

2009-07-31T14:59:35Z

← Older revision		Revision as of 14:59, 31 July 2009
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	=== Changing CM-5 Firmware ===		=== Changing CM-5 Firmware ===
	As stated before, the original Robotis firmware allows a great deal of programming using simple motion files with more complex behaviour programs. However, an experienced programmer will want to push some functions further and will eventually build his own C program. Although this is an easy procedure, it rises some doubts at first.		As stated before, the original Robotis firmware allows a great deal of programming using simple motion files with more complex behaviour programs. However, an experienced programmer will want to push some functions further and will eventually build his own C program. Although this is an easy procedure, it rises some doubts at first.
			In order to recover the original firmware, you simple use the ''Recover CM-5'' option from BCP, after downloading the latest firmware from Robotis.

	In order to compile the C program, you need to use AVR libraries. In this project we have been using two programs to write and compile these algorithms under Windows. The [http://www.pnotepad.org/ Programmer's Notepad 2] (PN2) is the program used to create and edit the C files and the compilation was made using the [http://winavr.sourceforge.net/ WinAVR]. Afterwards you need to send the .hex file to the CM-5 using the bootloader through the ''Terminal'' program.		In order to compile the C program, you need to use AVR libraries. In this project we have been using two programs to write and compile these algorithms under Windows. The [http://www.pnotepad.org/ Programmer's Notepad 2] (PN2) is the program used to create and edit the C files and the compilation was made using the [http://winavr.sourceforge.net/ WinAVR]. Afterwards you need to send the .hex file to the CM-5 using the bootloader through the ''Terminal'' program.
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	=== Changing AX-12 firmware ===		=== Changing AX-12 firmware ===
	In order to update the AX-12 (or AX-S1) firmware you can use the BCP program or the USB2Dynamixel program. Either way should work, and you can download the latest firmware from Robotis. However, there is the chance that things go wrong and, just like us, you end up with 18 servos all with the same ID and all flashing the alarm LED.		In order to update the AX-12 (or AX-S1) firmware you can use the BCP program or the USB2Dynamixel program. Either way should work, and you can download the latest firmware from Robotis. However, there is the chance that things go wrong and, just like us, you end up with 18 servos all with the same ID and all flashing the alarm LED.
			This problem was solved with the help of several people from Robosavvy, as you can in this [http://robosavvy.com/site/index.php?option=com_openwiki&Itemid=&id=robotis_bioloid#ax12_firmware_update post].

			#The first step was to enter the AX-12 bootloader one at a time. Using the CM-5 in bridge mode, at 57600bps baudrate, and the ''Terminal'' software, start sending many # through the line, just like in a CM-5 bootloader entry, and then attach the AX-12+ to the bus. It is imperative to only attach the AX-12 after sending the #, because the bootloader on AX-12+ only waits 1/60th of a second before rushing to program mode. If this is sucessfull, you should write 'h' for help, 'C' for clearing the EEPROM, 'A' to enter application mode and finally 'Go'. This should give you a working servo, with ID=1 and at 1Mbps.

			#This may not work, because the servo firmware is corrupted, just like it happened to us. We had to download the [http://www.braincell.cx/bioloid/dist/ LibBioloid], along with libcompat, libavr and programmer libraries. In order for this to work several steps were needed:
			##Firstly download these libraries and install a GCC compiler for Windows. [http://www.mingw.org/ MinGW] worked fine under Windows 7.


			=== LibBioloid ===


	Changing CM-5 Firmware		Changing CM-5 Firmware
	Flashing Gumstix		Flashing Gumstix

Clusher at 14:36, 31 July 2009

2009-07-31T14:36:33Z

← Older revision		Revision as of 14:36, 31 July 2009
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	Check for several example files in [[Bioloid files]].		Check for several example files in [[Bioloid files]].

	====		==== Uploading the Firmware ====
	Changing AX-12 firmware		After running the "make all" you will have a .hex file that you need to upload to CM-5. In order to do this you need to run the ''Terminal'' program, connect your Bioloid and enter the Bootloader. This mode is entered by sending # characters (literally keep pressing Shift+# for a while) and pressing the MODE button. You should see a CM-5 Bootloader message and a prompt, in which you write "load". The message "Write Address: 00000000 Ready..." is displayed and then you should go to Files->Transmit File and choose the compiled .hex file. A success message should then appear and a Reset is needed in order to boot using the new firmware.

			=== Changing AX-12 firmware ===
			In order to update the AX-12 (or AX-S1) firmware you can use the BCP program or the USB2Dynamixel program. Either way should work, and you can download the latest firmware from Robotis. However, there is the chance that things go wrong and, just like us, you end up with 18 servos all with the same ID and all flashing the alarm LED.
	Changing CM-5 Firmware		Changing CM-5 Firmware
	Flashing Gumstix		Flashing Gumstix

Clusher: /* Special Procedures and Trivia */

2009-07-31T14:23:57Z

Special Procedures and Trivia

@@ Line 124: / Line 124: @@
 == Special Procedures and Trivia ==
-Charging normal batteries
+This platform is being used and improved for almost 2 years. In all this time, we have experienced different situations, sometimes new, sometimes old, but that we feel that should be compiled in one place. As such, the following situations have been troublesome and here you can find possible solutions and tutorials.
 Changing AX-12 firmware
 Changing CM-5 Firmware
 Flashing Gumstix

Clusher: /* The New Expansion Board */

2009-07-31T14:04:14Z

The New Expansion Board

← Older revision		Revision as of 14:04, 31 July 2009
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	*The possibility of using the ADC ports to connect additional devices later on;		*The possibility of using the ADC ports to connect additional devices later on;
	*A Serial door for the Gumstix console and a JTag for the ATXMega console;		*A Serial door for the Gumstix console and a JTag for the ATXMega console;
			*Several LED indicators to show communications activity and powering;

			This new board and the LiPos won't fit in the original CM-5 box. In order to maintain the Bioloid original form, a new box will be made in order to accommodate all these devices without straying too far from the original designs.

			This board is still being designed and we expect to have it ready soon.

	== Special Procedures and Trivia ==		== Special Procedures and Trivia ==

Clusher at 13:59, 31 July 2009

2009-07-31T13:59:37Z

← Older revision		Revision as of 13:59, 31 July 2009
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	This device allows the connection of a USB port to the Dynamixel bus. Using any language, it is possible to use the computing power of a laptop or desktop PC to create complex algorithms to control the Humanoid. Using this method the CM-5 is not needed to control the servos, but the USB2Dynamixel does not power the servos. In order to solve this problem, one can keep the CM-5 attached but dorment (creating a program that does nothing or using the bridge mode with Libbioloid) or use a new pack of batteries, like Li-Po's.		This device allows the connection of a USB port to the Dynamixel bus. Using any language, it is possible to use the computing power of a laptop or desktop PC to create complex algorithms to control the Humanoid. Using this method the CM-5 is not needed to control the servos, but the USB2Dynamixel does not power the servos. In order to solve this problem, one can keep the CM-5 attached but dorment (creating a program that does nothing or using the bridge mode with Libbioloid) or use a new pack of batteries, like Li-Po's.
	The software of this device allows a simple control of the servos, updating the firmware and changing most Bioloid devices parameters through an user-friendly interface.		The software of this device allows a simple control of the servos, updating the firmware and changing most Bioloid devices parameters through an user-friendly interface.
			However, our goal is to make an autonomous robot, not being connected to a big PC, so this device is only used for troubleshooting and tuning the servos.
	The USB2Dynamixel is made by Robotis, you can find more information and drivers and software dowloads [http://www.robotis.com/usb2dynamixel/ here].		The USB2Dynamixel is made by Robotis, you can find more information and drivers and software dowloads [http://www.robotis.com/usb2dynamixel/ here].

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	In spite of the versatility and how easy it is to program, the Bioloid platform has two very important constraints: processing power and communication actual speed.		In spite of the versatility and how easy it is to program, the Bioloid platform has two very important constraints: processing power and communication actual speed.
	Most learning and walking algorithms require the usage of matrices, which come with complex mathematics. Not only C programming seems inadequate for this level of mathematics, but also the computing abilities of the ATMega128 just don't cut it. In order to solve this problem, it has been decided we should acquire a [http://www.gumstix.com/ Gumstix board]. We now have a [http://www.gumstix.net/Hardware/view/Hardware-Specifications/Verdex-specifications/112.html Gumstix Verdex XM4-bt board], which features a Marvel PXA270 400Mhz microprocessor, 64MB RAM, 16MB Flash, a Bluetooth communication module with antenna, 1 USB port and 3 UARTs, running a Linux OS.		Most learning and walking algorithms require the usage of matrices, which come with complex mathematics. Not only C programming seems inadequate for this level of mathematics, but also the computing abilities of the ATMega128 just don't cut it. In order to solve this problem, it has been decided we should acquire a [http://www.gumstix.com/ Gumstix board]. We now have a [http://www.gumstix.net/Hardware/view/Hardware-Specifications/Verdex-specifications/112.html Gumstix Verdex XM4-bt board], which features a Marvel PXA270 400Mhz microprocessor, 64MB RAM, 16MB Flash, a Bluetooth communication module with antenna, 1 USB port and 3 UARTs, running a Linux OS.
			The main problem with the communication network is the fact is that it is only half-duplex and shared by all the Bioloid devices. Even with speeds of 1Mbps, the CM-5 needs to send one request to each device and wait for its reply, making it a very slow system to use with a real-time algorithm. The Gumstix also gives a pretty good solution to this problem, firstly with the 3 UARTs available and also with the possibility of using the USB port.
	It is possible to install several modules in this embedded solution, using a cross-compiling toolchain. The method for this will be explained in the next chapter, since it requires some knowledge and a lot of steps and patience.		It is possible to install several modules in this embedded solution, using a cross-compiling toolchain. The method for this will be explained in the next chapter, since it requires some knowledge and a lot of steps and patience.

	==== Expansion Board ====		==== Expansion Board ====
	In order to make full use of the 3 UARTs and the USB port it is required an expansion board. Again there are two solutions for this problem: one can buy the expansion board or make one from a scratch. We chose the first, although later we realized to have been a bad judgment. The board was a [http://www.gumstix.com/store/catalog/product_info.php?products_id=185 Console-vx]		In order to make full use of the 3 UARTs and the USB port it is required an expansion board. Again there are two solutions for this problem: one can buy the expansion board or make one from a scratch. We chose the first, although later we realized to have been a bad judgment. The board was a [http://www.gumstix.com/store/catalog/product_info.php?products_id=185 Console-vx], with 3 Serial connectors for the UARTs, one mini-USB port and a power plug. In spite of seeming a great option, we found several problems. Of the three Serial ports available, only one was usable to connect to the Bioloid bus, because one of them is used for the console connection and the other one is disabled when Bluetooth is enabled.
			In addition to this, several devices are required to power and link the expansion board and the gumstix to the bus. Among others, the USB2Dynamixel was used to link the USB port to the bus, and one AC adapter, linked to a voltage regulator, for powering. All this devices were too big to fit in the original box and were inadequate for an autonomous robot to walk with. Henceforth, we chose to create an all new board, in order to be able to use the processing of the Gumstix, the power of the LiPo batteries and the many UARTs available on a new microprocessor.

			=== The New Expansion Board ===
			As stated before, the already existing solutions seemed less than satisfactory for the goal at hand. So, following the example of other members in the Bioloid community, we decided to build a custom-made board. This board will have the following features:

			*A 60 pin connector for the Gumstix;
			*An ATXMega128 microprocessor, that will be dealing with all the communications with the Bioloid devices. This microprocessor will be programmed to use one port as a USB connection for the Gumstix and have 6 UARTs available for independent bus connections and 2 ADC connections. The programming, being very similar to the ATMega128, is easy to implement and will allow to compact the several unnecessary headers used by the Bioloid devices;
			*A 3s LiPo batteries pack feeding the Gumstix, the ATXMega128 and the several Bioloid buses, along with an alarm system in case of overdischarge;
			*The possibility of using the ADC ports to connect additional devices later on;
			*A Serial door for the Gumstix console and a JTag for the ATXMega console;


	== Special Procedures and Trivia ==		== Special Procedures and Trivia ==

Clusher at 11:12, 31 July 2009

2009-07-31T11:12:40Z

← Older revision		Revision as of 11:12, 31 July 2009
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	Changing AX-12 firmware		Changing AX-12 firmware
	Changing CM-5 Firmware		Changing CM-5 Firmware
			Flashing Gumstix

Clusher at 11:06, 31 July 2009

2009-07-31T11:06:02Z

← Older revision		Revision as of 11:06, 31 July 2009
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	=== Gumstix ===		=== Gumstix ===
	In spite of the versatility and how easy it is to program, the Bioloid platform has two very important constraints: processing power and communication actual speed.		In spite of the versatility and how easy it is to program, the Bioloid platform has two very important constraints: processing power and communication actual speed.
			Most learning and walking algorithms require the usage of matrices, which come with complex mathematics. Not only C programming seems inadequate for this level of mathematics, but also the computing abilities of the ATMega128 just don't cut it. In order to solve this problem, it has been decided we should acquire a [http://www.gumstix.com/ Gumstix board]. We now have a [http://www.gumstix.net/Hardware/view/Hardware-Specifications/Verdex-specifications/112.html Gumstix Verdex XM4-bt board], which features a Marvel PXA270 400Mhz microprocessor, 64MB RAM, 16MB Flash, a Bluetooth communication module with antenna, 1 USB port and 3 UARTs, running a Linux OS.
			It is possible to install several modules in this embedded solution, using a cross-compiling toolchain. The method for this will be explained in the next chapter, since it requires some knowledge and a lot of steps and patience.

			==== Expansion Board ====
			In order to make full use of the 3 UARTs and the USB port it is required an expansion board. Again there are two solutions for this problem: one can buy the expansion board or make one from a scratch. We chose the first, although later we realized to have been a bad judgment. The board was a [http://www.gumstix.com/store/catalog/product_info.php?products_id=185 Console-vx]

	== Special Procedures and Trivia ==		== Special Procedures and Trivia ==

Clusher at 10:40, 31 July 2009

2009-07-31T10:40:03Z

← Older revision		Revision as of 10:40, 31 July 2009
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	The acknowledgment that a foot as reached the floor is also an important factor to improve the walking ability. One major possibility to solve this problem also came from [http://www.huvrobotics.com/shop/index.php?_a=viewProd&productId=4 HuvRobotics Foot Pressure Board]. Just like the IMU, it is made to be connected to the CM-5 bus and respond to the same communication protocol. Alas, the production has been stopped. This has been postponed, but we expect to build our own boards, featuring either a pressure sensor or a simple switch. We still need to decide if this board will have an independent microprocessor to connect to the CM-5 bus (easy to plug, but harder to power) or if we should connect it to an ADC in a new processing board (being built).		The acknowledgment that a foot as reached the floor is also an important factor to improve the walking ability. One major possibility to solve this problem also came from [http://www.huvrobotics.com/shop/index.php?_a=viewProd&productId=4 HuvRobotics Foot Pressure Board]. Just like the IMU, it is made to be connected to the CM-5 bus and respond to the same communication protocol. Alas, the production has been stopped. This has been postponed, but we expect to build our own boards, featuring either a pressure sensor or a simple switch. We still need to decide if this board will have an independent microprocessor to connect to the CM-5 bus (easy to plug, but harder to power) or if we should connect it to an ADC in a new processing board (being built).

			[[Image:USB2Dynamixel.jpg\|thumb\|right]]
	=== USB2Dynamixel ===		=== USB2Dynamixel ===
	This device allows the connection of a USB port to the Dynamixel bus. Using any language, it is possible to use the computing power of a laptop or desktop PC to create complex algorithms to control the Humanoid. Using this method the CM-5 is not needed to control the servos, but the USB2Dynamixel does not power the servos. In order to solve this problem, one can keep the CM-5 attached but dorment (creating a program that does nothing or using the bridge mode with Libbioloid) or use a new pack of batteries, like Li-Po's.		This device allows the connection of a USB port to the Dynamixel bus. Using any language, it is possible to use the computing power of a laptop or desktop PC to create complex algorithms to control the Humanoid. Using this method the CM-5 is not needed to control the servos, but the USB2Dynamixel does not power the servos. In order to solve this problem, one can keep the CM-5 attached but dorment (creating a program that does nothing or using the bridge mode with Libbioloid) or use a new pack of batteries, like Li-Po's.
			The software of this device allows a simple control of the servos, updating the firmware and changing most Bioloid devices parameters through an user-friendly interface.
	The USB2Dynamixel is made by Robotis, you can find more information and drivers and software dowloads [http://www.robotis.com/usb2dynamixel/ here].		The USB2Dynamixel is made by Robotis, you can find more information and drivers and software dowloads [http://www.robotis.com/usb2dynamixel/ here].

			=== LiPo Batteries ===
			The CM-5 comes with an 8 cells pack of simple NimCad batteries (supplying around 10V total). Not only this batteries have a very limited discharge time, which means the Bioloid can only work around 15min without being connected to a power putlet, but they are also extremely heavy. All around, Bioloid users have been experimenting with LiPo packs, with very good results. Using a simple 3s package (this means 3 cells in series), we are able to supply around 12V to the servos, making them able to achieve higher torques and speed, for over an hour.
			In spite of the advantages, the LiPos have a few constraints. Firstly, an additional circuit is needed to prevent the batteries from over-discharging, because if this happens the batteries are not recoverable, and to keep their voltage balanced. Secondly, they can only be charged using a specific charger, to prevent overcharging, which can cause the batteries to explode. And finally, their size makes them hard to fit in the original CM-5 box.
			We have decided to adopt this solution, along with the following changes, and they are being implemented.
			You can find a lot more info and interesting testimonies in [http://robosavvy.com/site/index.php?option=com_openwiki&Itemid=&id=robotis_bioloid#lithium_polymer_batteries Robosavvy].

	=== Gumstix ===		=== Gumstix ===
	In spite of the versatility and how easy it is to program, the Bioloid platform has two very important constraints: processing power and communication speed.		In spite of the versatility and how easy it is to program, the Bioloid platform has two very important constraints: processing power and communication actual speed.


	== Special Procedures and Trivia ==		== Special Procedures and Trivia ==
			Charging normal batteries
			Changing AX-12 firmware
			Changing CM-5 Firmware

Clusher at 10:10, 31 July 2009

2009-07-31T10:10:44Z

← Older revision		Revision as of 10:10, 31 July 2009
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	=== The Dynamixel AX-12+ ===		=== The Dynamixel AX-12+ ===

	~~This~~ servos feature a precise position and speed control, an alarm system for different malfunctions, holding torques up to 18.6 Kgf.cm and communication speeds up to 1Mbps. It uses a simple communications protocol that allows writing and reading different status values (current and goal position, current and goal speed, LED status, torque, voltage, temperature, etc). Each servo has a different ID and this network doesn't allow multiple packets to be exchanged at the same time.		These servos feature a precise position and speed control, an alarm system for different malfunctions, holding torques up to 18.6 Kgf.cm and communication speeds up to 1Mbps. It uses a simple communications protocol that allows writing and reading different status values (current and goal position, current and goal speed, LED status, torque, voltage, temperature, etc). Each servo has a different ID and this network doesn't allow multiple packets to be exchanged at the same time. The bus has 3 pins: GND, VDD and DATA.
	An instruction and status packet must have the following structure:		An instruction and status packet must have the following structure:

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	Although the Bioloid platform is very customizable it lacks the necessary power of computing and sensing required for a walking and balancing algorithm. This section will explain the problems we encountered and the solutions adopted (or about to be adopted) to improve the Humanoid.		Although the Bioloid platform is very customizable it lacks the necessary power of computing and sensing required for a walking and balancing algorithm. This section will explain the problems we encountered and the solutions adopted (or about to be adopted) to improve the Humanoid.

	=== 6 Axis IMU ===		=== 6-Axis IMU ===
	In order to be able to estimate an attitude, it has been decided an IMU would be required. In order to facilitate the programming, we chose the 6 Axis IMU from [~~http://~~http://www.huvrobotics.com/~~IMU-01~~.~~html~~ HuvRobotics], which features a 3 Axis Accelerometer and a 3 Axis Gyroscope. Also this device was made in order to simply be connected to the CM-5 bus and follow the same communications protocol as the Dynamixel devices. It has an ATMega8 (the same used in AX-12+), updates the IMU readings at 100Hz and allows an easy reading of the 6 parameters with one single instruction.		In order to be able to estimate an attitude, it has been decided an IMU would be required. In order to facilitate the programming, we chose the 6 Axis IMU from [http://www.huvrobotics.com/shop/index.php?_a=viewProd&productId=3 HuvRobotics], which features a 3 Axis Accelerometer and a 3 Axis Gyroscope. Also this device was made in order to simply be connected to the CM-5 bus and follow the same communications protocol as the Dynamixel devices. It has an ATMega8 (the same used in AX-12+), updates the IMU readings at 100Hz and allows an easy reading of the 6 parameters with one single instruction.
	This solution has been acquired and is mounted in the Humanoid Torso.		This solution has been acquired and is mounted in the Humanoid Torso.

			=== Foot Pressure Plates ===
			The acknowledgment that a foot as reached the floor is also an important factor to improve the walking ability. One major possibility to solve this problem also came from [http://www.huvrobotics.com/shop/index.php?_a=viewProd&productId=4 HuvRobotics Foot Pressure Board]. Just like the IMU, it is made to be connected to the CM-5 bus and respond to the same communication protocol. Alas, the production has been stopped. This has been postponed, but we expect to build our own boards, featuring either a pressure sensor or a simple switch. We still need to decide if this board will have an independent microprocessor to connect to the CM-5 bus (easy to plug, but harder to power) or if we should connect it to an ADC in a new processing board (being built).

			=== USB2Dynamixel ===
			This device allows the connection of a USB port to the Dynamixel bus. Using any language, it is possible to use the computing power of a laptop or desktop PC to create complex algorithms to control the Humanoid. Using this method the CM-5 is not needed to control the servos, but the USB2Dynamixel does not power the servos. In order to solve this problem, one can keep the CM-5 attached but dorment (creating a program that does nothing or using the bridge mode with Libbioloid) or use a new pack of batteries, like Li-Po's.
			The USB2Dynamixel is made by Robotis, you can find more information and drivers and software dowloads [http://www.robotis.com/usb2dynamixel/ here].

			=== Gumstix ===
			In spite of the versatility and how easy it is to program, the Bioloid platform has two very important constraints: processing power and communication speed.


			== Special Procedures and Trivia ==