and play it as it does normally on the robot in the virtual
window. The interface lights up each step and page along
the way. I found this quite instructive decomposing how
the default walking gait worked. Note the diagram of the
Bioloid Premium walking machine. It shows some of the
complexity of walking and being able to change the
direction while walking. The forward walk alone is
comprised of four pages each with seven poses. Overall,
there are 16 walking modes.
Beyond the 3D virtual representation, the pose utility
has a couple other important features: mirror and inverse
On the mirror tab, you can mirror a pose bilaterally.
There are two methods: exchange and symmetric.
Exchange is what I would consider the classic mirror
as shown in the figures here. Symmetric (as the name
Pose Utility Exchange.
Pose Utility Symmetric Left Origin.
Pose Utility Symmetric Right Origin.
44 SERVO 04.2010
implies) sets the robot’s pose to be symmetric to either the
left or right side.
Due to the computational complexity, until recently
inverse kinematics (IK) has largely been left to researchers.
Now it’s included as part of RoboPlus Motion — at least
for the stock models. Inverse kinematics allows adjusting
the position of the end effectors — in this case, a foot or
feet — in Cartesian coordinate space and then computing
the joint angles to achieve the goal Cartesian position.
ROBOTIS has included IK for both single foot and a
walking step profile. The walking step uses both feet as
end effectors and changes the use of the angular controls.
In the single foot mode, the angle of the foot is changed
with an angle change of f, q, or y.
In “Walking Step” mode, both feet are end effectors
and the X, Y, and Z adjustments are obvious; f, q, and y
Pose Utility IK.