From 90f1949144772ac648717b34b488e276ed9c4211 Mon Sep 17 00:00:00 2001 From: Pavel Lutskov Date: Fri, 1 Mar 2019 17:55:21 +0100 Subject: [PATCH] last minute addition of the fall recovery section --- docs/report.latex | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/docs/report.latex b/docs/report.latex index 3afce21..813e494 100644 --- a/docs/report.latex +++ b/docs/report.latex @@ -15,8 +15,8 @@ \usepackage{fancyhdr} \pagestyle{fancy} -\rhead{\thepage} \lhead{Humanoid Robotic Systems} +\rhead{Teleoperating NAO} \def\BibTeX{{\rm B\kern-.05em{\sc i\kern-.025em b}\kern-.08em T\kern-.1667em\lower.7ex\hbox{E}\kern-.125emX}} @@ -522,6 +522,16 @@ shows no signs of producing violent arm motions, which means that our strategy for handling singularities was effective. The implementation for the whole imitation routine resides in the \verb|imitator| module of our system. +\subsection{Fall Recovery} + +A final component of our system is a small node that is responsible for +recovering from the falls. Using the NAOqi API, this node subscribes to a +NAOqi event called \verb|robot_has_fallen|, and as soon as such event occurs, +immediately suspends any other activities in the system, and then indefinitely +tries to bring the robot back into the standing state, again by using a routine +provided by NAOqi SDK. Thanks to this node, the teleoperation can in many cases +be resumed normally after the fall. + \section{System Implementation and Integration}\label{sec:integration} Now that the individual modules were designed and implemented, the whole system