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shc_guide_hexapod.md

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How to Control the Legged Robot

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Basic Control

Start-Up Procedure

LOGITECH -> START -> START

Linear Movements

  • Left joystick up - move forwards
  • Left joystick down - move backwards
  • Left joystick left - stride left
  • Left joystick right - stride right

Angular Movements

  • Right joystick left - rotate anticlockwise
  • Right joystick right - rotate clockwise

remote_diagram

Button Functionality

  • System State Transition: Controls OpenSHC system state. Press to start/suspend/resume control.

  • Robot State Increment: Increments robot state. Press to transition forward through possible robot states. (i.e. PACKED->READY->RUNNING)

  • Robot State Decrement: Decrements robot state. Press to transition backward through possible robot states. (i.e. RUNNING->READY->PACKED)

  • Gait Cycle Selection: Cycles through possible gait selections defined in config/gait.yaml. (defaults include Wave, Amble, Ripple and Tripod)

  • Manual Posing Mode Selection: Cycles through manual body posing modes. Use the right joystick for adjusting the pose.

    • NO POSING: No posing input.
    • X Y POSING: Linear translational posing in the x-axis and y-axis of the robot frame.
    • PITCH ROLL POSING: Angular rotational posing about he x-axis (roll) and y-axis (pitch) of the robot frame.
    • Z YAW POSING: Right Linear translational posing in the z-axis and angular rotational posing about the z-axis (yaw) of the robot frame.
    • EXTERNAL POSING: Posing input from external source

  • Cruise Control Mode Toggle: Starts/Stops cruise control mode. Cruise control sets a constant input velocity dependent on the parameter values defined in config/hexapod.yaml

  • Auto-Navigation Mode Toggle: Starts/Stops auto navigation mode. Auto navigation required correct sensing capabilities and syropod auto navigation.

  • Pose Reset Mode: Reset all current body poses to zero. (according to current posing mode)

  • Parameter Selection: Cycles through possible adjustable parameter selections.

  • Parameter Adjustment: Adjusts selected parameter by incrementing/decrementing according to adjustment step amount defined in config/hexapod.yaml.

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