New RiSE Leg Test Instructions

Running the Test Track

(At some point, it may be necessary to power the "counter-balance" servo motor, if so see the section below)

  1. Unplug the RMC board power connector
  2. Turn on the power supply and check the output voltage: 16V
  3. Turn off the power extension (not power supply) and plug the RMC board connector
  4. Turn on the power extension to power up everything together at the same time
  5. Wait until LINUX machine (RiSE stack) boots up
  6. Log onto LINUX laptop and type the following on the LINUX terminal
    • $ ssh
    • Password: (See the Post-It near the power supply for the RiSE stack)
    • $ cd supervisorLink/
    • $ su
    • Password: (BDML password)
  7. Open a new terminal window and type the following
    • $ cd operatorLink/
    • $ ./ 3000 (This will bring the GUI up on the screen)
  8. Go back to the first terminal window and type the following (Keep your finger on the power button of the power supply for emergency)
  9. Go back to GUI and check green [Network OK] sign is on.
  10. If it is on, click [Panels] to open Msg Log Panel
  11. Click [Connect] (This will bring up RiSE health Monitor)
  12. On the RiSE health Monitor, disply 4 (right upper most one) shows the condition of the test leg.
    • Bar: condition of Wing angle
    • Dial: condition of Crank angle
  13. Move the leg carefully and check if the monitor is working (if the leg moves, the bar and dial should change their values)
  14. Click [Calibrate]
  15. Click [Stop]
  16. Click [Start]
    • Check if [Leg #4] has green light on it (If it is not, you can't proceed further.)
    • Usually health monitor shows approx "63" for wing and approx "82" for crank at this stage)
    • see picture (14~16)
  17. Click [Custom Gate]
    • Either change cycles(non-zero value) or click [Non Stop]
  18. Click [Read Gait] and check if it reads all the gaits on the Msg window ("rise_test_track.rc" is important.)
  19. Click [Test Track]
  20. Change "Wing Offset" (This number depends on your foot. Try 0 or 0.1 first)
  21. Click [Launch!] (This will move the leg to the initial position.)
  22. Now, control the leg movement using the "Gait Controls"
    • Vertical slider bar: Change the speed of the leg (it is zero when you first start.)
    • Up and down arrow buttons: Change the direction of the leg movement (forward or backward)
    • Stop button (black rectangle between two arrow buttons): Stop on the next stop position (This leg has one preset stop position in the gait.)
    • "Kill!" button: Stop immediately
    • see picture (22)
  23. When you are done your testing, go back to the first terminal window and push [Ctrl]+[c]
  24. Click [Disconnect]
  25. Click [Quit]

Powering the "counter-balance" servo motor

  1. Make sure the support string from the servo amg is connected to the track
  2. Make sure the servo amp (with the clear acrylic cover) is OFF
  3. Turn ON the power supply (APS-305d labeled DML-Biomimetics in RED ink) that provides voltage to the servo amp
  4. Use the FINE dial to adjust the voltage to ~0.9V and turn it off
  5. Plug in the servo amp
  6. Remove the hard stop (ie. ruler or other stop) from track and FIRMLY hold track
  7. Turn ON the APS-305d power supply
    • ALERT! NOTE: The servo motor will yank the string and try to pull the track up after completing this step
  8. Adjust the voltage with the FINE knob (on the APS-305d) so that the track moves freely when vertical forces are applied to the track.
  9. Conduct experiments
  10. Either FIRMLY hold the track or re-attach the hard stop
  11. Turn OFF the APS-305d power supply
    • ALERT! NOTE: The servo motor will release the track after this step, then recoil and slightly yank the string
  12. Secure the test track
  13. Unplug the servo amp

Changing trajectories for testing

(To be performed on a Unix machine (preferably the laptop - LORDVADER))
  1. Start Matlab (enter the following commands in a terminal window)
    • cd ~/RoboDevel/RiSE/Tools/Matlab/GaitBuiler
    • /usr/local/matlab/etc/lmstart
      • (to start the license manager)
    • matlab &
      • (to start matlab and return a prompt for this window)
  2. Change the working directory to the GaitBuilder directory (if not already there)
    • RoboDevel/RiSE/Tools/Matlab/GaitBuiler on LORDVADER
  3. Edit climbing2.m to change the trajectory, using the 14 paramters described in RiseLegClimbingParameters
    • See RiseLegTestSoftware for description of GaitBuilder
    • Make a note of your parameters as other users may change this file
  4. Run climbing2 in Matlab to generate rise_test_track.rc
    • This file will hold the gait defined in climbing2.m
  5. Type ./ in the terminal window used above
  6. Enter the password for the "rise" account on the laptop
    • The file rise_test_track.rc will be copied to the proper location on the stack
  7. If you are currently running the Operator on the laptop, you need to click [Read Gaits] from the CustomGait Mode
    • This will read in the new gait that was just copied
  8. Run the track with the new trajectory and repeat these steps as necessary

ALERT! Warning: Be Careful!

Email excerpt between Stanford and CMU regarding shutdown procedures

> Is there a common procedure to stop/shutdown the robot? (I've just been
> aborting the Supervisor with Ctrl-C, and more recently using Kill 1st. I
> was and still am a bit paranoid about damaging the leg - one time I think
> I hit disconnect and it did some weird things, could have been a cabling
> issue, but I just want to be clear.)

We get crazy stuff all the time, when we lose various RMCs, and usually,
a leg spazzes out. Not good. For that reason, one person usually has
their hands on the external battery power. Sometimes, even killing the
supervisor won't stop it. But yes, CTRL-C is the normal way to exit the

Watch where you put your hands and remember where the motor power supply switch is, in case of emergency.

-- YongLaePark - 14 Jul 2004

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