BRUCE Tutorial 05: Calibration
A Westwood Robotics presenter, whose name is unknown, explains when and how to calibrate BRUCE’s lower-body joints.
In this talk
- 0:07
When calibration is needed
BRUCE uses absolute encoders, so calibration is usually unnecessary. It may be needed if lower-body joints drift, fail to reach their correct positions during initialization, or an actuator has been replaced.
- 0:28
Set joints to their calibration positions
The calibration positions are documented in the Bruce-OP wiki. A tool holds the hip roll and pitch actuators in position; users can print the latest tool model from the wiki. Set the knee all the way forward, the ankle so the foot is perpendicular to the calf, and the hip yaw parallel to the body.
- 1:04
Run the calibration program
From the Bruce-OP directory on BRUCE’s computer, run `python3 -m util.homing_calibration` to open the interface. It cycles through lower-body joints one to ten. Enter N for joints to skip and Y for those to calibrate; the example calibrates only the left knee, joint nine.
- 1:45
Remove the tool before operation
Remove the calibration tool when calibration is complete. Operating BRUCE with the tool installed can damage joints and actuators.
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