Skip to content

Adam_demo Version Update & Function Description

Basic Functions

Mode

The robot supports the following basic modes: - Start: Startup mode, initializes the robot's state. - Zero: Zero return mode, the robot returns to the zero position. - Stand: Standing mode, the robot maintains a standing posture. - Walk: Walking mode, the robot performs walking actions. - Run: Running mode, the robot performs running actions.

Motion

The robot supports the following preset actions: - Greeting - Chest Expansion - Stretching - Gentleman's Salute

action

The robot supports the following basic actions: - Roll: The robot rotates around the X-axis. - Yaw: The robot rotates around the Z-axis. - Pitch: The robot rotates around the Y-axis. - Base Height: Adjusts the height of the robot's floating base.

Project's Structure

The following is the directory structure of the project: - Source/ * config/: Robot configuration folder, contains the basic control parameters and motor parameter configuration of the robot. * hand/: Hand control folder, contains the hand control scripts according to different situations. * motion/: Robot action folder, contains the preset and motion capture action files of the robot. * python_scripts/: Zero position script folder, contains the scripts related to the robot's zero return. * urdf/: Model folder, contains the URDF files of the robot.

Version Update: v1.5.1

New Functions

  • push recovery function:
    • The robot can dynamically adjust according to the magnitude of the external impact, improving its anti-interference ability.
  • Motion capture motion set:
    • New motion capture support is added, providing a richer set of executable motions and supporting the execution of complex motions.
  • Upper-level control interface:
    • A new gRPC interface is added, integrating the gRPC server, supporting remote control and data transmission.
    • Complete client demos are provided, and users can refer to or customize the client for robot control.
    • An upper-level control interface (PAC) is provided, allowing users to control the robot through the interface.

Optimization and Improvement

  • Standing and walking switch optimization:
    • The stability of switching between standing and walking is improved, reducing the jitter during the starting and stopping processes.
  • Waist control optimization:
    • A softer waist control is implemented, enhancing the flexibility and naturalness of the robot's movement.
  • Stability improvement:
    • The core control algorithm is optimized to improve the overall movement stability.
  • Action fluency:
    • The action execution logic is improved, making the robot's actions smoother and more natural.
  • Status protection:
    • An unexpected status protection mechanism is added to prevent the robot from crashing due to unexpected status.

Notes

  • push recovery function:
    • The robot's self-adjustment ability is limited, and it may become unbalanced under high-intensity external impact.
    • It is recommended to test on a flat ground to achieve the best results.
  • Motion capture motion set:
    • It is recommended to test on a flat ground to ensure the execution effect of the actions.
    • Do not perform other operations during the action execution, and wait for the action to be completed before proceeding with the next step.
  • Upper-level control client:
    • Before using the gRPC interface, please refer to the official documentation for configuration and invocation.
    • When customizing the client, necessary logical protection code needs to be implemented to ensure control safety.