Software Calibration for Mini Pupper 2 and 2Pro

1.キャリブレーションセットアップ

ツール

For beginners, in addition to the tools included in the kit, the following items are required.

  • USB キーボード

  • HDMIディスプレイ

  • micro HDMI cable for connection between display and carry board

../_images/101.v2.jpg

For beyond, you can use your PC to ssh to Mini Pupper to do everything, please refer to step 1.4

Step 1.1 Startup

  • Connect the carry board to the display with a microHDMI cable.

  • Connect a USB keyboard to the carry board.

  • Press and hold the battery button of the Mini Pupper for three seconds to boot up.

  • If you can see Ubuntu running on your screen, you have succeeded. You should also see the IP address or "IP: no IPv4 address" on Mini Pupper display.

Step 1.2 ログイン

  • 画面上のubuntuボタンを押し、ログインしてください。

  • 初期設定のユーザー名：ubuntu

  • 初期パスワード：mangdang

Step 1.3 Set your own WiFi

  • Edit the WiFi configure file(50-cloud-init.yaml), and set your WiFi to your own.

sudo vi /etc/netplan/50-cloud-init.yaml
# Edit and save
sudo netplan apply
sudo reboot
../_images/101.v2.png

Step 1.4 Open ports for ssh without HDMI display

  • Use your phone to set the default WiFi used by Mini Pupper.

    WiFi name: Mangdang

    Password: mangdang

  • Power on your robot and check the LCD display

    If the LCD shows “IP: no IPv4 address”, then reboot your robot again.

  • After the LCD shows the IP address, make an ssh connection from your PC to your robot.

ssh ubuntu@192.168.x.x

  • PCからssh接続ができない場合は、恐らく以下の設定が必要です。

sudo ufw allow 22
sudo ufw reload

  • ファイアウォールが正常に動作しない場合は、次のようにしてください。

sudo ufw enable

2. キャリブレーション

Step 2.1 Leg calibration

以下のキャリブレーション動画をご参照ください。

  • その後、下の写真のように、4本の脚を正しい位置に取り付けます。

../_images/105.png

  • 脚の正確な傾きを測るのは少し難しいので、方眼紙のようなグリッドに脚を置き、前後左右の位置が同じかどうかを確認し、最終調整するのがよいでしょう。

../_images/107.jpg

  • When all legs are at 45° inclination as shown, press "s" to save the settings. Press "q" to quite the calibration application.

Step 2.2 Use a web browser to run

  • Point a web browser to http://x.x.x.x:8080 where x.x.x.x is the IP address of your mini_pupper, such as, http://192.168.5.196:8080

  • Click the “Activate” button of the "Controller" tab.

  • Click the “Activate/Deactivate” button of the "Pupper" tab.

  • Click the "≡" icon at the top left corner.

  • Choose the "Walk" option.

  • Click the "Walk/Rest" button.

  • Use the scroll bar to control your Mini Pupper

../_images/webGuide.png