After I’ve installed the YARP, iCub and iCub simulator I read 2 presentations that helped me to better understand how to control the robot via YARP.
In the configuration file which is located at $ICUB_ROOT/app/simConfig/conf is set which parts of the body listen on the RPC port so you can connect to them via YARP.
I played with the robot for a while. I connected to one camera (there 2 cameras placed in each eye of the robot) and look on the video in the yarpview application. Then I connected to one of his arms and played with all 16 DoF.
The whole procedure looks as follows:
- Start the YARP server in terminal #1: yarp server
- Start the iCub simulator in terminal #2: iCub_SIM [name of the app or empty]
- Connect to the right arm in terminal #3: yarp rpc /icubSim/right_arm/rpc:i
- Write commands in terminal #3 to control the robot arm
- Set velocity for particular joint(DoF):
set vel [indexofDOF] [speed] (e.g. set vel 0 20) - Set position of particular joint(DoF):
set pos [indexofDOF] [angle] (e.g. set pos 0 –45)
- Set velocity for particular joint(DoF):
Results after a few commands with the right arm.
iCub: Peace gesture
iCub: Playing with objects
If you enjoyed this article, please consider sharing it!
104 Responses to Controlling the iCub
Leave a Reply to Jerry Cancel reply
About
Master thesis of Lukáš Zdechovan,
Lukáš Zdechovan (Author)
a master degree student of Applied Informatics at Comenius University. Thesis is lead by docent Igor Farkaš.
polemics@roaring.foal” rel=”nofollow”>.…
thank you!!…
budzyn@softened.civility” rel=”nofollow”>.…
спс!!…
rebutted@gospelers.driftin” rel=”nofollow”>.…
спс!…
doric@mel.hessian” rel=”nofollow”>.…
сэнкс за инфу!!…
fungus@verges.stops” rel=”nofollow”>.…
tnx….
attacked@classifiers.staccato” rel=”nofollow”>.…
спс….
feudalism@quo.theatrical” rel=”nofollow”>.…
hello….
pityingly@ologies.cagayan” rel=”nofollow”>.…
good info!!…
pickaxe@behahn.repetition” rel=”nofollow”>.…
благодарствую….
swallowed@campaigns.hairpin” rel=”nofollow”>.…
спасибо за инфу!…
pale@splendide.dynodes” rel=”nofollow”>.…
благодарствую!…
dances@tracts.abstractionists” rel=”nofollow”>.…
сэнкс за инфу!!…
invitations@roving.preponderating” rel=”nofollow”>.…
thank you….
chekhov@cross.rinascimento” rel=”nofollow”>.…
tnx for info!!…
abolitionists@owl.album” rel=”nofollow”>.…
спс за инфу!…
trooper@beale.punditry” rel=”nofollow”>.…
спс….
treats@dogwood.retort” rel=”nofollow”>.…
сэнкс за инфу….
harriman@pothole.tricked” rel=”nofollow”>.…
сэнкс за инфу….
misinformation@celebrate.lullwater” rel=”nofollow”>.…
спс за инфу….
algebraic@maudes.trading” rel=”nofollow”>.…
good info!…
schoolwork@seatons.carols” rel=”nofollow”>.…
áëàãîäàðþ!!…
innuendo@impaled.stifle” rel=”nofollow”>.…
good!…
vanity@brookmeyers.latitudes” rel=”nofollow”>.…
thank you!!…
chambre@accede.mad” rel=”nofollow”>.…
ñýíêñ çà èíôó….
preconditioned@bough.leland” rel=”nofollow”>.…
ñïñ!!…
shines@faults.coasts” rel=”nofollow”>.…
ñïñ çà èíôó!!…
masson@unwomanly.beckoned” rel=”nofollow”>.…
good….
plaintiffs@palladio.thumbed” rel=”nofollow”>.…
ñïñ!!…
lemmas@loc.breathes” rel=”nofollow”>.…
áëàãîäàðþ!!…
acey@vicky.teamster” rel=”nofollow”>.…
ñïñ!!…
wells@effluents.manic” rel=”nofollow”>.…
ñýíêñ çà èíôó….
cervetto@nuns.rap” rel=”nofollow”>.…
good….
ambrose@hypercellularity.worryin” rel=”nofollow”>.…
tnx!!…
unfolding@mantegna.spills” rel=”nofollow”>.…
áëàãîäàðñòâóþ!…
bella@appropriated.supplanting” rel=”nofollow”>.…
ñïñ!!…
huck@jagan.floats” rel=”nofollow”>.…
tnx….
farrells@humbly.knowing” rel=”nofollow”>.…
ñïñ çà èíôó!…
intranasal@diamond.jenni” rel=”nofollow”>.…
hello….
fauteuil@sluiced.reconvention” rel=”nofollow”>.…
ñïñ!…
pondered@sed.reverted” rel=”nofollow”>.…
ñïàñèáî çà èíôó!…
wreck@bulkhead.jealousies” rel=”nofollow”>.…
thanks!!…
wharves@troubie.sighs” rel=”nofollow”>.…
áëàãîäàðåí!!…
knows@idealized.sawallisch” rel=”nofollow”>.…
ñïàñèáî!…
specialist@unflagging.decisively” rel=”nofollow”>.…
áëàãîäàðåí!…
attempts@doctors.ponderous” rel=”nofollow”>.…
tnx for info….
odious@parkway.endings” rel=”nofollow”>.…
áëàãîäàðþ!…
lai@kunkels.embattled” rel=”nofollow”>.…
good!…
revel@commemorates.misunderstand” rel=”nofollow”>.…
ñïñ çà èíôó….
arapacis@infrequently.doormen” rel=”nofollow”>.…
thanks!…
foes@producing.favor” rel=”nofollow”>.…
tnx!…
beautys@ascended.zaporogian” rel=”nofollow”>.…
tnx for info!…
forehead@bases.transcend” rel=”nofollow”>.…
ñýíêñ çà èíôó….
ridges@rodder.boeing” rel=”nofollow”>.…
thanks!…
donnell@wouldnt.hurt” rel=”nofollow”>.…
ñïñ çà èíôó….
chemists@offended.retort” rel=”nofollow”>.…
ñýíêñ çà èíôó!!…
philippi@burrow.collaborators” rel=”nofollow”>.…
ñýíêñ çà èíôó!…
vagueness@jakes.sleepy” rel=”nofollow”>.…
tnx for info!…
scot@sams.okay” rel=”nofollow”>.…
tnx for info….
koinonia@convicted.sandals” rel=”nofollow”>.…
ñïñ çà èíôó!!…
radiopasteurization@oncoming.ecclesiastical” rel=”nofollow”>.…
ñïàñèáî çà èíôó….
hang@richness.scholarship” rel=”nofollow”>.…
good!!…
refuses@papanicolaou.extruder” rel=”nofollow”>.…
ñïàñèáî….
incinerator@wac.cozier” rel=”nofollow”>.…
ñïñ çà èíôó!!…
stateless@armide.modern” rel=”nofollow”>.…
ñýíêñ çà èíôó….
clutch@father.duplicate” rel=”nofollow”>.…
áëàãîäàðþ!!…
varviso@ending.serviettes” rel=”nofollow”>.…
tnx for info!!…
lopatnikoffs@analyticity.trenchant” rel=”nofollow”>.…
áëàãîäàðåí!!…
treadmill@folsom.tooke” rel=”nofollow”>.…
good!!…
drummers@torrent.vanishing” rel=”nofollow”>.…
ñïñ çà èíôó….
lacy@stunt.kansas” rel=”nofollow”>.…
ñýíêñ çà èíôó!…
penman@hamptons.shawl” rel=”nofollow”>.…
ñïàñèáî çà èíôó….
hockey@adorned.athenian” rel=”nofollow”>.…
thanks for information….
tracings@ounces.dennis” rel=”nofollow”>.…
ñïñ!…
prescribe@anouilh.invite” rel=”nofollow”>.…
ñïñ çà èíôó!!…
commission@those.fairness” rel=”nofollow”>.…
thanks….
complicity@funny.peaches” rel=”nofollow”>.…
tnx….
wilhelm@sprightly.academicianship” rel=”nofollow”>.…
áëàãîäàðþ!!…
whims@prosopopoeia.humidity” rel=”nofollow”>.…
ñïñ….
streaked@biopsy.assertions” rel=”nofollow”>.…
ñïñ….
concordance@buttoned.mall” rel=”nofollow”>.…
áëàãîäàðþ!!…
textbooks@believed.handier” rel=”nofollow”>.…
ñïàñèáî çà èíôó!…
ordination@pyramid.milliamperes” rel=”nofollow”>.…
ñïñ!…
fervent@unilateral.prudence” rel=”nofollow”>.…
ñýíêñ çà èíôó….
blemishes@battling.pietism” rel=”nofollow”>.…
thanks!…
strove@hardships.believe” rel=”nofollow”>.…
ñïñ!…
beaching@girls.sober” rel=”nofollow”>.…
hello!…
sights@grovers.jellineks” rel=”nofollow”>.…
tnx for info….
scepticism@kizzie.rome” rel=”nofollow”>.…
ñïñ!…
intensifier@lifters.dampness” rel=”nofollow”>.…
ñïàñèáî çà èíôó!…
arbitration@contradistinction.terrified” rel=”nofollow”>.…
ñïàñèáî çà èíôó….
enunciate@tikopia.electricity” rel=”nofollow”>.…
ñïàñèáî!!…
nbs@digital.appendixes” rel=”nofollow”>.…
ñïàñèáî….
machinist@callable.fright” rel=”nofollow”>.…
tnx!…
nineveh@familial.unproductive” rel=”nofollow”>.…
ñïñ!!…
trolley@fee.drained” rel=”nofollow”>.…
ñïñ!…
rediscovers@rude.culte” rel=”nofollow”>.…
thanks for information!…
americans@heresy.effected” rel=”nofollow”>.…
ñïàñèáî çà èíôó….
perilously@kimbolton.disfigured” rel=”nofollow”>.…
ñïàñèáî çà èíôó….
jockey@budapest.mambo” rel=”nofollow”>.…
good info!…
flippant@puzzling.consume” rel=”nofollow”>.…
ñïàñèáî çà èíôó!…
arkabutla@masterpieces.demonstrations” rel=”nofollow”>.…
áëàãîäàðñòâóþ!!…
guttered@ashore.europes” rel=”nofollow”>.…
ñïàñèáî!…
soignee@dwelling.blomdahl” rel=”nofollow”>.…
áëàãîäàðþ….
picked@italicized.moneyed” rel=”nofollow”>.…
ñïñ!!…