Re: Temporal Learning

Traveler <traveler@xxxxxxxxxx> wrote:
> On 30 Sep 2005 22:30:36 GMT, curt@xxxxxxxx (Curt Welch) wrote:

> There is a group at CMU that has developed an impressive AIBO
> programming framework called Tekkotsu. I am not sure if any of those
> frameworks will work with early AIBOs.
>
> http://www.cs.cmu.edu/~tekkotsu/

Nope, it doesn't work on mine. :( I've got the ERS-110 and it only works
on the ERS-2xx series and ERS-7.

> I'll check it out to see if it supports primitive joint motion
> capabilities (start/stop). IMO, this is a must for a learning program.

I spent some time looking it over. It looks like you can do whatever you
need. It's all C++ real time control code sends a constant stream of
commands to the joints as well as receive real time updates from the
senors. You put the real time joint control code in one process which
can't block or hang, and your sensor processing and decision code goes in a
main process and is allowed to hang processing.

I never saw a clear description of what the lowest level commands you could
send to the joints were, but it seems you can set PID values for each
joint. But I don't know if the PID values are controling power, speed, or
position to each servo.

It seems you get to send updated data every 8 ms so that's 125 per second.
But it's in batches of 4 commands, so I think around 31.25 times per
second, your code gets updated information on the position of every joint,
and gets to send another batch of 4 motion control commands. No matter
what is actually being sent, it should be straight forward to write a joint
control algorithm to respond to any type of commands such as start/stop you
want to create.

--
Curt Welch http://CurtWelch.Com/
curt@xxxxxxxx http://NewsReader.Com/
.

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