DanceLab - Lab 4 ESE 112 Fall 2007 Everybody Dance Now 1...

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Lab 4 ESE 112 Fall 2007 Everybody Dance Now…
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1.) Introduction In robotics, complex locomotion is an active area of research. To date not many legged robots that have even tried tackled this problem and even the best examples have often produced behaviors that are very “robotic” in nature (see movies/quro/quro_fandance.wmv for probably the best example of bipedal dancing). One of the reasons for this failure is the difficulty in chaining together dynamic movements with known outcomes and without loss of stability. In computer science, one of the biggest failures of large-scale programming has been to create code that is modular and easy to work with. In this lab you will work to tackle both of these problems, you will choreograph a dance with RHex to music, but before starting you will have to use software engineering techniques to develop a sound, coding infrastructure. This lab covers three laboratory sessions. During the first you will work on your software design, during the second and third you will work on the robot to coordinate with your chosen music and to make sure the movements you have chosen are stable and produce the desired behavior. On the day it is due you will present your design and dance to the rest of the class. DANCE COMPETITION: To add to the fun of this lab, we are going to have the dances presented in a dance competition at the end of the lab. Judging the dance competition will be two of Philadelphia’s premier ballroom dancers. This year the winner of the competition will have the opportunity to present their robot dance and a professional ballroom dancing competition in NY city.
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1.) Pre-lab questions Pre-lan Question 0: Read the appendix very carefully, what is the command needed to set up the wireless usb stick? Pre-lab Question 1 : What is static stability? Why is it important in robotics? Give an example of why static stability needs to be considered in a robotic application. Pre-lab Question 2 : What is dynamic stability? Why is it important in robotics? Give an example of why dynamic stability needs to be considered in a robotic application. Pre-lab Question 3: Assume you have two dynamic robot behaviors; A and B. Both these behaviors have been tested and shown to work well (the behavior outputted is stable and as expected) when the robot starts from its standard starting position. Is it the case that a behavior, C, which is a sequential combination of A then B will be stable and produce the expected behavior? If not, give a concrete example where this may fail. If so, try to prove why it is guaranteed to work. Pre-lab Question 4: What is the maximum length a function can be for this project? 2.) Lab Exercise Part 1: Code Design As previously mentioned one of the goals of this lab is to work on good software design. In this lab you are given a single addition (moveLeg) function (on top of calibrate and stand) that takes 4 parameters: int legnum: The leg you want to control as diagramed below int direction: takes -1 or 1 for backwards or forwards double angle: amount (radians) to move leg in direction specified in double time: time (sec) to go from current position to position specified by angle
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