littlegreenbats

Walking

Asked by Armando Nava

Hi.

It's me again. Sorry for disturbing you, i'm trying to make an agent walk, but i have this question, the code manage the walking and running like behaviors, or are actions that are set manually like the helloworld example?

Thanks in advance.

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Sander van Dijk
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Sander van Dijk (sgvandijk) said : 		#1

Hello Armando, I am not sure if I understand your question fully.

Firstly, for clarity, libbats does not contain any code that that generates walking or running: the user will have to create that for himself, by creating and sending the appropriate MoveJoint actions for each joint separately, as is done in the HelloWord example. (A future release will have some basic walking behavior included.)

libbats does include a Behavior structure, which can be used (as we do in our team) to create a walking behavior, however currently this is not documented very clearly, so probably at this time it is best not to use it, and create your own walking skill.

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Armando Nava (armandnavao) said : 		#2

Hi Mr. Sander.

Thanks for your reply.

I see. Libbats does not generate walking or running, and i have to generate it.

I have another question, i read a Team Description Paper of little green bats (Robocup 2008), and it says that it has a sinusoidal joint control implemented, but i'm not sure if it is only implemented on behavior or is implemented on all joints control?

Thanks in advance

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Best Sander van Dijk (sgvandijk) said : 		#3

It was implemented as a single behavior, that controls all the joints., i.e. it is one module that determines walk parameters, such as speed and direction, and based on that determines the angles of all joints. These angles are then turned into angular velocities, just like how it is done in the HelloWorld agent.

The full 2008 code of the Little Green BATS can be downloaded here at launchpad, look at https://launchpad.net/littlegreenbats/+download. There you will find all behaviors in the Behavior folder, including Sine behaviors that were used for walking. However, this code is deprecated and only maintained here as a reference. We will not supply any further support for this code.

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Armando Nava (armandnavao) said : 		#4

Hello Mr. Sander.

Thanks for answering and thanks for the link. I had downloaded the code earlier (the 2.0.1 version), and i'm studying it because i want to use it as base for a Robocup team (hope i can finish it on time to be in Robocup 2012). =) That's why i'm reading little green bats papers and bold hearts papers that i found on the internet (mainly there are team description papers). =)

BUt there is something that confuse me, there are recent code in the Behavior folder (maybe my mistake? ), some of 2011 and 2010, so i assume that you are using the code with your team.

Anyway, thank you. Mr. Sander. If i have another question, i will post it in here.

Thanks again.

Regards

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Armando Nava (armandnavao) said : 		#5

Thanks Sander van Dijk, that solved my question.