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Exercise: Robot Programming
Kazu. TAKASHIO
Today’s Goal.. ! Learn and master how to code robot actions with the programming environment HeartToHeart 4..
! Select one or two emotions from primitives, and design emotional representations - motions - for a robot from the Robot’s perspective..
! Target is..
Today’s Target.. ! Humanoid Robots..
! KONDO KAGAKU KHR-3HV Ver.2 ! Windows or “MacOS X + VM + Windows”
Basic Precautions.. ! DO NOT handle joints - servomotors - so roughly..
! Save your motion data often!!
HeartToHeart 4 ! A motion is a sequence of poses..
Flow Diagram Project (PC)
Writing to ROM (RCB-4)
Edit Save
Build
Online Play
Re-edit
Play from Motion List
Save Project
Project Setup ・Create ・Import ・Save
Motion Data Management ・Save Motion Data ・Save Controller Button Data
Project Configuration ・Trimming / Mixing
Editing Motion File ・Creation / Editing / Saving Playing Motion
Write by Motion ・Writing a Motion ・Writing a Button Data
Write All Motions ・Writing Motions ・Writing Button Data
Editing a Motion / Teaching Mode ! Ex. Aisatsu -> Karate Aisatsu pose
! 1 -> 2 -> 1 ! 1 -> 3 -> 1
Editing a Motion / Teaching Mode ! Copy the motion “Aisatsu”.. ! Edit each pose with Teaching Mode..