Darwinism

This is a auxiliary tool on Darwin Robot developed by Room301, enabling people to adjust parameters via web pages and control the robot. Our work is based on the official framework 1.1.

Usage

Put the directory under /darwin/Linux/project/.

• The HTTP server is under the folder server. To run the server, input sudo ./server. Visit port 80 (default) via browsers and have fun. The IP is 192.168.1.100 normally.

Docs

Server

URLs

Control

• /behav/rest Let him rest.
• /behav/walk?motion=<name> The parameter is optional. The 'motion' parameter <name> is a number 0~7, specifying how the robot walks, forward or backward, or turning around. <name> should be in the following list:
  • stepping
  • forward
  • backward
  • left
  • right
  • turnleft
  • turnright
• /behav/stop-walk Stop walking.
• /behav/action?id=<id> Play an action on the robot. <id> is a number specifying the action page to be played.
• /behav/is-running Check whether the robot's body is busy.
• /behav/speed-up?x=<x>&y=<y> Both parameters are optional. This will change the walking parameters temporarily.

Walk Tuning

• /walk/set-param?param=<name>&value=<v> Set the parameter of WalkingManager. <v> must be a float number.
• /walk/get-param?param=<name> Get the parameter of WalkingManager. The response will be a float number. <param> is a string in the following list:
  • X-OFFSET
  • Y-OFFSET
  • Z-OFFSET
  • ROLL-OFFSET
  • PITCH-OFFSET
  • YAW-OFFSET
  • HIP-PITCH-OFFSET
  • PERIOD-TIME - DSP-RATIO
  • STEP-FORWARDBACK-RATIO
  • STEP-FORWARDBACK
  • STEP-RIGHTLEFT
  • STEP-DIRECTION
  • FOOT-HEIGHT
  • SWING-RIGHTLEFT
  • SWING-TOPDOWN
  • PELVIS-OFFSET
  • ARM-SWING-GAIN
• /walk/start?id=<id> Let him walk according to the parameter set specified by <id>.
• /walk/stop The same as /behav/stop-walk.
• /walk/load-parset?id=<id> Load the parameter set <id> on the robot. If <id> is not given, it will reload the current parameter set. The parameter values will be responsed, in a JSON array.
• /walk/save-parset?id=<id> Save current parameters to the parameter set <id>. If <id> is not given, they will be saved into the current set.
• /walk/save-new-parset Save current parameters to a new parameter set. The new parameter set will be pushed at the end.
• /walk/del-parset?id=<id> Delete the parameter set <id>. If <id> is not given, the current parameter set will be deleted.
• /walk/get-cur-parset Get the values of all the parameters. The reponse will be a JSON array of floats.
• /walk/get-cur-parset-norm Get the values and normalized values of all the parameters. The reponse will be a JSON array of two arrays, which are values and normalized values, respectively.
• /walk/get-parset-n Get how many parameter sets there are. The response will be a integer.
• /walk/get-par-minmax Get the min and max values of all the parameters. The reponse will be a JSON array of two arrays, which are min values and max values respectively.

Head

• /head/up
• /head/down
• /head/left
• /head/right

Video

• /video/snapshot The response will be a jpeg that captures what the robot sees.