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Poppy robot
Poppy robot is a humanoid robot that can be used with its hardware platform or with a simulator. It can be programmed with python, using the pypot library, or it can also have a web interface with snap.
Quick links
- A start-up tutorial:
- a good step to step tutorial: https://github.com/HumaRobotics/poppy-examples/tree/master/doc
- and tutorials on their forum: https://forum.poppy-project.org/tags/tutorial
- For any questions : https://forum.poppy-project.org/
- Install:
- Install pypot : http://poppy-project.github.io/pypot/intro.html#installation
- Install software for poppy : https://github.com/poppy-project/poppy-torso
- Example programs:
- Move and replay movements: http://poppy-project.github.io/pypot/move.html
Our robots
We currently have 2 Poppy robots:
- a Poppy-torso : this Poppy is already assembled, except for the inside of the head. This Poppy-torso can be used with 2 legs or a suction pad with lever arm to stick the robot to a flat surface. We still need to setup the camera and microphone and the embedded computer inside the head and assemble the suction pad.
- a Poppy-humanoid: a full-body humanoid with the legs. All the parts are nearly assembled. We still need to setup the camera and microphone and the embedded computer inside the head.
Set-up your Poppy
Set up the hardware
- getting your material: the list of material https://github.com/poppy-project/Poppy-lightweight-biped-legs/blob/master/doc/BOM.md or https://docs.google.com/spreadsheets/d/1JTgnleBYUdU6cn87NjxFi2tbDfmRrJWdX2hGNNN6CUY/edit#gid=1
- You would need to install software to setup the motors. The best would be the dynamixel wizard on windows.
- On windows, install Dynamixel wizard through roboplus software.
- On a macos, you would need to install herborist which needs PyQt. Guides for macos can be read here http://www.pythonschool.net/pyqt/installing-pyqt-on-mac-os-x/ and http://www.noktec.be/python/how-to-install-pyqt4-on-osx.
Set-up the software
Poppy uses pypot for control. It is a python library : http://poppy-project.github.io/pypot/index.html On the top of pypot are libraries for Poppy creatures : https://github.com/poppy-project
The quick install consists in:
- install pypot :
sudo pip install pypot
- install your popppy creature. For instance for poppy humanoid :
sudo pip install poppy_humanoid
- to check that the libraries are installed correctly, execute with python the code:
from poppy_humanoid import PoppyHumanoid poppy = PoppyHumanoid()
A good guide can be found here: https://github.com/HumaRobotics/poppy-examples/blob/master/doc/softwareGuide/softwareGuide.pdf. More technical details for your first start of Poppy, after installation of pypot, you can also look into Poppy Software
Simulator
A poppy simulator is available with vrep simulator. the installation and the control part.
In details, this is what I did
===== Our configuration
==== Poppy humanoid The configuration file used for this robot is available here poppyconfig.zip. The main differences with the original configuration are:
- The offsets have been adapted to our robot
- The robot has been configured to be controlled symetrically (the same command will give the same result for the left and right parts)
You can see below a picture representing the joints of poppy and the control policy:
Here is the tab you saw on the right side of the image in text:
IDs | Joint | Effect of increasing angle |
---|---|---|
15, 25 | ankle_y | lower foot |
14, 24 | knee_y | bend knee |
13, 23 | hip_y | turn leg backward |
12, 22 | hip_z | turn leg outward |
11, 21 | hip_x | raise leg sideway |
31 | abs_y | lean forward |
32 | abs_x | lean to right side |
33 | abs_z | turn to the left |
34 | bust_y | lean forward |
35 | bust_x | lean to right side |
41, 51 | shoulder_y | turn arm backward |
42, 52 | shoulder_x | raise arm |
43, 53 | arm_z | turn arm outward |
44, 54 | elbow_y | lower forearm |
Programming with the visual programming language Snap!
Commands to use Poppy on the simulator vrep and program it with Snap!
Poppy-Torso with snap | Poppy Humanoid with snap | |
1st way: terminal command | poppy-services --vrep --snap poppy-torso | poppy-services --vrep --snap poppy-humanoid |
2nd way : python command | from poppy.creatures import PoppyTorso; poppy = PoppyTorso(simulator='vrep', use_snap=True) ; poppy.snap.run(); | from poppy.creatures import PoppyHumanoid; poppy = PoppyHumanoid(simulator='vrep', use_snap=True); poppy.snap.run(); |
All articles on Poppy:
2018/10/25 09:52 | Kone | |
2019/09/06 14:54 | Loan Guilbaud | |
2019/07/08 16:46 | Mai Nguyen | |
2015/10/28 16:14 | Nicolas Favé | |
2020/05/29 22:13 | Mai Nguyen | |
2018/08/01 17:11 | Mai Nguyen | |
2016/02/19 00:09 | Mai Nguyen | |
2016/01/20 10:29 | ||
2017/03/03 15:48 | Maxime Devanne | |
2015/10/28 13:01 | ||
2015/12/02 14:45 | Mai Nguyen | |
2016/06/20 07:23 | Projet s4 projet 12 année 2016 | |
2015/10/28 13:01 | ||
2015/10/28 13:01 | ||
2017/08/28 21:22 | Projet s4 | |
2017/08/28 23:35 | Projet s4 |