"Spot "機器人，此前被稱爲 "SpotMini"，是波士頓動力公司開發的一款四條腿的類似狗的機器人。
詳細介紹的短視頻在文末，如需簡要了解，不必觀看視頻，個人一直覺得視頻的時間成本很高，流量成本很高，製作成本也很高，這三高是相對於圖文博客而言。
這款敏捷的機器人身高83釐米，可以完成各種搜索、檢查和運送任務。它能以前所未有的速度攀爬樓梯和穿越崎嶇的地形，但它的體型卻足夠小，適合在室內使用。它是一個堅固耐用的（IP54防塵和防潮保護）和可定製的平臺。Spot可以去輪式機器人無法去的地方，同時攜帶的有效載荷的耐力遠超空中無人機。最大速度爲1.6米/秒，續航時間爲90分鐘，電池可更換。Spot使用5個立體攝像頭（360度視覺），在動態工作場所移動時，可以避開障礙物和人。
附上參考網址（非點擊打開的鏈接，請複製打開）
教程說明：https://cyberbotics.com/doc/guide/spot
模型網址：https://github.com/cyberbotics/webots/tree/master/projects/robots/boston_dynamics
軟件下載：https://cyberbotics.com/#download
上圖可以看到webots軟件界面，騰空時前後攝像頭的圖像也在仿真窗口左上和右上顯示。
如上運動效果的代碼如下：
/*
* Copyright 1996-2020 Cyberbotics Ltd.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/*
* Description: Simple controller to present the Spot robot.
*/
#include <webots/camera.h>
#include <webots/device.h>
#include <webots/led.h>
#include <webots/motor.h>
#include <webots/robot.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#define NUMBER_OF_LEDS 8
#define NUMBER_OF_JOINTS 12
#define NUMBER_OF_CAMERAS 5
// Initialize the robot's information
static WbDeviceTag motors[NUMBER_OF_JOINTS];
static const char *motor_names[NUMBER_OF_JOINTS] = {
"front left shoulder abduction motor", "front left shoulder rotation motor", "front left elbow motor",
"front right shoulder abduction motor", "front right shoulder rotation motor", "front right elbow motor",
"rear left shoulder abduction motor", "rear left shoulder rotation motor", "rear left elbow motor",
"rear right shoulder abduction motor", "rear right shoulder rotation motor", "rear right elbow motor"};
static WbDeviceTag cameras[NUMBER_OF_CAMERAS];
static const char *camera_names[NUMBER_OF_CAMERAS] = {"left head camera", "right head camera", "left flank camera",
"right flank camera", "rear camera"};
static WbDeviceTag leds[NUMBER_OF_LEDS];
static const char *led_names[NUMBER_OF_LEDS] = {"left top led", "left middle up led", "left middle down led",
"left bottom led", "right top led", "right middle up led",
"right middle down led", "right bottom led"};
static void step() {
const double time_step = wb_robot_get_basic_time_step();
if (wb_robot_step(time_step) == -1) {
wb_robot_cleanup();
exit(0);
}
}
// Movement decomposition
static void movement_decomposition(const double *target, double duration) {
const double time_step = wb_robot_get_basic_time_step();
const int n_steps_to_achieve_target = duration * 1000 / time_step;
double step_difference[NUMBER_OF_JOINTS];
double current_position[NUMBER_OF_JOINTS];
for (int i = 0; i < NUMBER_OF_JOINTS; ++i) {
current_position[i] = wb_motor_get_target_position(motors[i]);
step_difference[i] = (target[i] - current_position[i]) / n_steps_to_achieve_target;
}
for (int i = 0; i < n_steps_to_achieve_target; ++i) {
for (int j = 0; j < NUMBER_OF_JOINTS; ++j) {
current_position[j] += step_difference[j];
wb_motor_set_position(motors[j], current_position[j]);
}
step();
}
}
static void lie_down(double duration) {
const double motors_target_pos[NUMBER_OF_JOINTS] = {-0.40, -0.99, 1.59, // Front left leg
0.40, -0.99, 1.59, // Front right leg
-0.40, -0.99, 1.59, // Rear left leg
0.40, -0.99, 1.59}; // Rear right leg
movement_decomposition(motors_target_pos, duration);
}
static void stand_up(double duration) {
const double motors_target_pos[NUMBER_OF_JOINTS] = {-0.1, 0.0, 0.0, // Front left leg
0.1, 0.0, 0.0, // Front right leg
-0.1, 0.0, 0.0, // Rear left leg
0.1, 0.0, 0.0}; // Rear right leg
movement_decomposition(motors_target_pos, duration);
}
static void sit_down(double duration) {
const double motors_target_pos[NUMBER_OF_JOINTS] = {-0.20, -0.40, -0.19, // Front left leg
0.20, -0.40, -0.19, // Front right leg
-0.40, -0.90, 1.18, // Rear left leg
0.40, -0.90, 1.18}; // Rear right leg
movement_decomposition(motors_target_pos, duration);
}
static void give_paw() {
// Stabilize posture
const double motors_target_pos_1[NUMBER_OF_JOINTS] = {-0.20, -0.30, 0.05, // Front left leg
0.20, -0.40, -0.19, // Front right leg
-0.40, -0.90, 1.18, // Rear left leg
0.49, -0.90, 0.80}; // Rear right leg
movement_decomposition(motors_target_pos_1, 4);
const double initial_time = wb_robot_get_time();
while (wb_robot_get_time() - initial_time < 8) {
wb_motor_set_position(motors[4], 0.2 * sin(2 * wb_robot_get_time()) + 0.6); // Upperarm movement
wb_motor_set_position(motors[5], 0.4 * sin(2 * wb_robot_get_time())); // Forearm movement
step();
}
// Get back in sitting posture
const double motors_target_pos_2[NUMBER_OF_JOINTS] = {-0.20, -0.40, -0.19, // Front left leg
0.20, -0.40, -0.19, // Front right leg
-0.40, -0.90, 1.18, // Rear left leg
0.40, -0.90, 1.18}; // Rear right leg
movement_decomposition(motors_target_pos_2, 4);
}
int main(int argc, char **argv) {
wb_robot_init();
const double time_step = wb_robot_get_basic_time_step();
// Get cameras
for (int i = 0; i < NUMBER_OF_CAMERAS; ++i)
cameras[i] = wb_robot_get_device(camera_names[i]);
// enable the two front cameras
wb_camera_enable(cameras[0], 2 * time_step);
wb_camera_enable(cameras[1], 2 * time_step);
// Get the LEDs and turn them on
for (int i = 0; i < NUMBER_OF_LEDS; ++i) {
leds[i] = wb_robot_get_device(led_names[i]);
wb_led_set(leds[i], 1);
}
// Get the motors (joints) and set initial target position to 0
for (int i = 0; i < NUMBER_OF_JOINTS; ++i)
motors[i] = wb_robot_get_device(motor_names[i]);
while (true) {
// lie_down(4.0);
// stand_up(4.0);
// sit_down(4.0);
// give_paw();
// stand_up(4.0);
// lie_down(3.0);
// stand_up(3.0);
// lie_down(2.0);
// stand_up(2.0);
// lie_down(1.0);
// stand_up(1.0);
// lie_down(0.75);
// stand_up(0.75);
lie_down(0.5);
stand_up(0.5);
lie_down(0.4);
stand_up(0.4);
lie_down(0.3);
stand_up(0.3);
lie_down(0.2);
stand_up(0.2);
lie_down(0.1);
stand_up(0.1);
}
wb_robot_cleanup();
return EXIT_FAILURE;
}
可以自己編程實現更多複雜的運動。
在Webots中使用Spot或Spotmini說明