History: MicroRaptor Movies

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[http://www.bioloid.info/tiki/tiki-download_file.php?fileId=52|Tail Wagging] (303 KB) - a simple sequence played back, actuating the two tail servos

[http://www.bioloid.info/tiki/tiki-download_file.php?fileId=53|Body Sway] (322 KB) - another simple sequence, this time using SYNC_WRITE to control all four servos at once...

[http://www.bioloid.info/tiki/tiki-download_file.php?fileId=54|Standing Up] (360 KB) - this is more complicated, and involves the full motion controller. Basically, I captured a sample of the robot in the standing position, saved it in long term memory, and then repositioned the robot into a crouch. I gave the robot a command to switch to the "Standing" position that I had earlier saved, and it dynamically generated a motion plan for each actuator that switched, over a fixed interval (2 seconds, or 60 cycles), from the position it happened to be in at the time to the Standing position.

[http://www.bioloid.info/tiki/tiki-download_file.php?fileId=55|Stand/Crouch] (1.1 MB) - same as above, but standing, then doing a body sway, then going back to Crouched.

[http://www.bioloid.info/tiki/tiki-download_file.php?fileId=57|First Step] (696 KB) - This is a sequence playback of the robot standing, and then taking a first step. This is all statically balanced, but I'm not helping it or holding it up or anything like that.

[http://www.bioloid.info/tiki/tiki-download_file.php?fileId=58|First Step (bigger)] (2.73 MB) - this is another version of the First Step movie, but shot at 640x480 with better focus. [http://www.bioloid.info/tiki/tiki-download_file.php?fileId=59|MOV Format] (606 KB)

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[http://www.bioloid.info/tiki/tiki-download_file.php?fileId=73|GUI in Action] (1.6 MB) - this is a zipped AVI movie showing the operations GUI in action.

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[http://www.bioloid.info/MicroRaptor-Walking-01.wmv|MicroRaptor Walking] (10.2 MB) - Finally, taking those first few steps. Still statically balanced.

[http://www.bioloid.info/MicroRaptor-Walking-02.wmv|MicroRaptor Walking Faster] (9.1 MB) - Walking at a more reasonable pace.

[http://www.bioloid.info/MicroRaptor-Walking-03.wmv|MicroRaptor Walking Towards] (9.3 MB) - Walking towards the camera, from a different perspective.

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