事例紹介

1. カスタムシェルパーツ

Mini Pupper is an open source project, that means, you can custom what you want. You can find all the 3D printed shell files and custom them.

How about connect it to LEGO parts?

../_images/LEGO.jpg

Or DIY it like @nisshan_

2. 顔写真のカスタマイズ

2.1 必要なもの

  • HDMI ディスプレイ

  • micro HDMI ケーブル

  • キーボードとマウス

  • a new custom picture(size: 320x240 pix)

../_images/165.jpg

2.2　走る

  • Connect MiniPupper to a display, a keyboard and a mouse.

  • Ubuntu login(The default password is mangdang)

../_images/172.jpg

  • Replace the logo.png file using your custom picture

  • Reboot Mini Pupper and then you will see your custom picture

../_images/172.2.jpg

3. キーボードコントローラー

3.1 ROSバージョンをベースにしたキーボードコントローラー

この機能は PupperKeyboardController project をベースにしています。Stanford Pupperの Pygameベースのキーボードコントローラです。

  • PyGameをインストールする

pip install pygame

  • コントローラの操作

wasd: left joystick
arrow keys: right joystick
q: L1
e: R1
ijkl: d-pad
x: X
square: u
triangle: t
circle: c

3.2 ROSバージョンに基づくキーボードコントローラ

SLAMの項をご参照ください。

4. ウェブコントローラ

Please refer to Mini Pupper Web controller project.

5. How to control a Mini Pupper PWM servo

Mini Pupper servo is a PWM servo, You can connect one servo to Pi board as the following picture shows, run the samle code,and then the servo will move. You can find the code here. You can run it on your Windows or Ubuntu with Python environment, just like the following picture shows.

6. Forward Kinematics

Lecture

Please study the basic knowledge of forward kinematics online first.

You can also refer to the following video clips come from Stanford Robotics Independent Study.

Forward kinematics lecture

Follow-up lecture to clarify some things

Sample code

We prepared a simple Forward kinematics sample code based on Mini Pupper, you can try it here. You can run it on your Windows or Ubuntu with Python environment, just like the following picture shows.

../_images/ForwardKinematics_SimpleModeMove.png

7. Inverse Kinematics

Lecture

Please study the basic knowledge of forward kinematics online first.

You can also refer to the following video clips come from Stanford Robotics Independent Study.

Sample code

We prepared a simple Inverse kinematics sample code based on Mini Pupper, you can try it here. You can run it on your Windows or Ubuntu with Python environment, just like the following picture shows.

../_images/ForwardKinematics_SimpleModeMove.png

8. PID control

Will update later!

9. Docker

9.1 Docker for Pupper

ミニぷぱ ROS パッケージの Dockerfile は docker-mini-pupper-ros プロジェクト で確認できます。

9.2 Docker for Host

ネットワーク経由でミニぷぱと接続するためのホストコンピュータのセットアップは、 mp_host_setup project で確認できます。

10. Scratch program

近日公開予定です