Tekkotsu XWalk Introduction

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What is XWalk

XWalk is a motion trajectory generator in Tekkotsu. Once the configuration of a robot is set in the .kin file, XWalk will enable the robot to walk over a certain displacement at a certain speed.

How to run XWalk

1)Running XWalk with a Robot simulation

    cd Tekkotsu/tools/mirage

Afterward, a window should appear, displaying the Mirage 3D environment.

  • C. connecting Tekkotsu
  cd Tekkotsu/project
  ./tekkotsu-TARGET –c mirage.plist (for example, if we use the simulation of Gort, we type :
  ./tekkotsu-GORT –c mirage.plist)
  • D.turning on ControllerGUI
  cd Tekkotsu/tools/bin
  ./ControllerGUI localhost
  • E.Root Control -> TekkotsuMon -> Walk Controller
  • Actually, not only the Walk Controller will call XWalk, many other motions in the list, including Chase Ball call XWalk, too.

2)Running XWalk with a real Robot

  • A. Open a terminal windown
  • B.cd /usr/local/Tekkotsu/tools/mon
  • C. enter ./ControllerGUI ip-address

(Usually we need to run ControllerGUI whenenver we want to use XWalk, with ControllerGUI, we will be able to control the robot easily.)