BRUCE Tutorial 04: Operation
An instructor from Westwood Robotics explains how to bring up BRUCE and operate its balance, stance, and walking controls.
In this talk
- 0:07
Connect and boot Bruce
Connect the computer and BRUCE to the same wireless network, then SSH into BRUCE. From the `bruce_op` directory, run `boot_up.sh` and follow the prompt to begin startup.
- 0:21
Initialize joints and estimator
Hold BRUCE upright when prompted and press Enter so its joints move to their starting positions. Set it on the ground while holding it straight, then press Enter to start the estimator; two shoulder movements signal that its sensor check passed.
- 0:51
Engage the controllers
Press Enter to start the low-level controller, which lets BRUCE maintain its balance after a possible body adjustment. Continue through the prompts to start the high-level and top-level controllers, then use the top-level cockpit.
- 1:11
Use stance and walking controls
In stance mode, BRUCE balances while allowing changes to body position and orientation: P changes yaw negatively, T rolls it right, and R resets values. Double-click the spacebar to switch to walking mode, but first set all values to zero; pressing 2 triggers a wave with a randomly selected arm.
- 1:39
Return to stance
Reset the controls with R, then double-click the spacebar to return to stance mode.
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