Robot running.

Finally, I got robot work.

There were so many problems since I run the robot at the first time. i.e. Errors on robot's and tracking system's coordinate axes, also on the convention between these two; errors on the matrix translation; errors on the angle calculation. These cause the difficulty in real time interaction. As the robot movement is controlled by the human moving, any error on the data processing would cause robot crash to that person or even out of the control. Errors which are on the robot's side were solved or reduced as much as my friend could by coding on the robot control system. What I did was try the best to reduce the other errors by programming in Max/Msp, like matrix translation, convention of coordinate axes. Even like that, if wanna robot move as precise as I expecting, it still needs lots work. But, as our work goes so far, robot can do the basic action with relevant slow consistence speed and it looks not too bad.

Routes for robot movement were reduced from 5 to 4 (or may be 3). Because the data which is received by robot as command are formed only with the value of X and Y. Thereby, the in situ action can not be excused. However, at the begin, this was considered to be coded as one type of the performable injunctive data to robot.

Those 4 types routes are represented with 4 different commands, there are "Moving around person", " Following", " Shape 'Z' follow"; "Parallel moving". Just as it's named, robot was expected to run like that. Until now, there are 2 of routes have been excused a kind of properly. The reason to say that is due to the recently unsolved errors, although most of errors were reduced by coding from the robot's side and the side of Max/Msp.

The evaluation will take place tomorrow with the testing of this project. The first test was two weeks ago, which was so funny. Robot was a sort of uncontrollable, that was due to the Y axis Y between tracking system and the robot, they develop in the opposite direction actually. Now this problem was solved, also the errors of convention of axis X were reduced again today. (Wohoo, looks lots work done, so far)

Anyway, robot is running, and I can do the following work now.That's cool.