A University of Pennsylvania workshop instructor demonstrates how to program ROBOTIS’s DARwIn-OP humanoid, guiding attendees through motion, walking, and vision software on their robots.
The instructor introduces an open-source framework intended to run locomotion and vision software across different humanoids. Attendees start a background process that reads sensor and actuator data, then run a Lua demo that makes DARwIn-OP stand, wave, and march in place.
The group explores the motion libraries and uses Lua commands to move the head and arms, adjust motor stiffness, and pose the robot. They then inspect existing keyframe files and record their own poses, changing durations to make a motion run faster.
Attendees test standing, sitting, and walking, then adjust walking parameters such as step period. The instructor explains how a motion state machine moves between resting, standing, and walking, and has the group experiment with adding a state before restoring the original transitions.
The instructor describes the camera’s V4L2 interface and a vision pipeline that processes frames at 30 Hz, identifies colored regions, and locates an orange ball. A head state machine tracks or searches for the ball, while body control steers toward it and initiates a kick; attendees finish by running the soccer program with robots on the floor.
Briefs summarise talks and interviews; timestamps open the video at that moment. Claims in a talk are the speaker's own.
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Students from Purdue University describe their team’s Darwin-OP robotics project at an ICRA 2012 challenge, explaining its sensor-based reactions and demonstrating them.
