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Changes for page Humanoid Robot

Last modified by Laura Ottevanger on 2022/04/05 13:53
From version Icon 13.1 Icon
edited by Tim Huisman
on 2022/04/02 22:06
Change comment: There is no comment for this version
To version Icon 14.1 Icon
edited by Tim Huisman
on 2022/04/02 22:09
Change comment: There is no comment for this version

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19 19  ==== Limitations of MiRo ====
20 20  Although these capabilities listed above seem promising, we experienced quite a lot of problems while working with MiRo. This section describes these problems and how we handled them.
21 21  
22 +First of all, we noticed that the MiRo is not able to roll around on the floor of the Insyght lab. It is only able to run on smooth floors or tables. When using the MiRo on a table, be careful because the cliff sensor does not always work. We also found that MiRo can not drive on black tables. The cliff sensor will constantly detect cliffs due to the black underground, causing MiRo to only drive backwards. Additionally, we noticed that the MiRo robot has a bit of a weak neck. It will drop when rolling around or will move weird when the head is being touched. Thus, one needs to be careful when "petting" the MiRo, as you do not want to damage such an expensive robot.
23 +
22 22  =====Programming difficulties=====
23 23  When using Mirocloud, there are two possibilities: the first one is blockly which is block-based programming, one can also convert that code to Python or just program Python.
24 24  Blockly is mainly created to teach children on how to program, when using Blockly some problems can be encountered. One of the problems that we've encountered is that Blockly does not always create runnable code. For example, if one is using arrays/lists, Blockly can accidentally place NaN when trying to access an item from the list.
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30 30  
31 31  We have tried to get the robot to make sounds but we were only able to send specific Hertz ranges to the robot for a certain amount of time. Unfortunately we were not able to get a sound that could represent a dog.
32 32  
33 -=====Working with the MiRo robot itself=====
34 -First of all, we noticed that the MiRo is not able to roll around on the floor of the Insyght lab. It is only able to run on smooth floors or tables. When using the MiRo on a table, be careful because the Cliff sensor won't always work. MiRo can also not run on black tables as the Cliff sensor will only detect Cliffs and MiRo wil not be able to roll.
35 35  
36 -We have noticed that the MiRo robot has a bit of a weak neck. It will drop when rolling around or will move weird when the head is being touched. Thus one needs to be careful when "petting" the MiRo.
37 -
38 38  =====Wizard of Ozzing=====
39 39  The MiRo robot can be controlled with certain PS4 controllers. We have noticed that PS5 controllers will also work but the head can't be controlled as that one is mapped to the triggers and they need to be held in the middle to keep the head of the MiRo in the middle. Pairing the MiRo with a controller can be used by following the steps on the following page: [[PS4 Setup >> http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Husbandry_MIROapp_Home_page_Remote_settings_dialog]]. On this page, one can also found which controllers can be used. The controls are on the following page: [[PS4 Controls >> http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Husbandry_MIROapp_Controller_manager_Remote_controller]]
40 40