Robosapien Resources

One of my hobbies is robotics. I own an original Robosapien

 

and a Robosapien RS Media.

The RS Media is a much more powerful and versatile robot. I have begun to gather information and to create utilities for the RS Media. The link below will download my first macro and bodycon editor. This is an alpha test version. It is a bit crude although fully functional. I can not conceive of a way it could hurt your robot but still, use at your own risk!

    The RS Media Macro Editor is Copyright 2009 by Mathew S. Howe. It is free to use by anyone interested in robotics.

The first table is a chart of script commands for movements. Check back here periodically as I will be adding to the chart as I find out more.

Digits 1st 2nd 3rd Example Notes
         
Upper body          
Description Command Position Speed    
Head up down 01 3   /usr/bin/robot/scripts/MotorRel.sh 01 03 08 Speed is 08 by default from the BodyCon editor.
Head left right 02 7   /usr/bin/robot/scripts/MotorRel.sh 02 03 20 Positions are from 0 to #-1 For example Head up down is 0-3
Left arm 03 22   /usr/bin/robot/scripts/MotorRel.sh 03 13 08 Most positions are counted from the BodyCon editor.
Right arm 04 22   /usr/bin/robot/scripts/MotorRel.sh 04 13 02  
Left hand 05 3   /usr/bin/robot/scripts/MotorRel.sh 05 03 08  
Right hand 06 3   /usr/bin/robot/scripts/MotorRel.sh 06 03 0a  
Body lean forward backward 07 12   /usr/bin/robot/scripts/MotorRel.sh 07 03 08  
Body waist twist 08 32   /usr/bin/robot/scripts/MotorRel.sh 08 13 08  
Body tilt left right 09 2   /usr/bin/robot/scripts/MotorRel.sh 09 03 08  
Left leg forward back 0a 2   /usr/bin/robot/scripts/MotorRel.sh 0a 03 08 Positions are guessed at.
Right leg forward back 0b 2   /usr/bin/robot/scripts/MotorRel.sh 0b 03 08 Positions are guessed at.
         
Walk          
Description Gait Steps      
Forward 01   N/A /usr/bin/robot/scripts/BasicMove.sh 01 2 The different gaits are different rythms used in the steps the
Forward 02   N/A /usr/bin/robot/scripts/BasicMove.sh 02 5 RS Media takes.
Forward 03   N/A /usr/bin/robot/scripts/BasicMove.sh 03 12  
Reverse 04   N/A /usr/bin/robot/scripts/BasicMove.sh 04 2  
Reverse 05   N/A /usr/bin/robot/scripts/BasicMove.sh 05 2  
Right turn in place 06   N/A /usr/bin/robot/scripts/BasicMove.sh 06 2 Left and right are subjective. The BodyCon editor reverses these
Left turn in place 07   N/A /usr/bin/robot/scripts/BasicMove.sh 07 2 settings as left and right are viewed from the users perspective.
Forward 08   N/A /usr/bin/robot/scripts/BasicMove.sh 08 2 I have set the left and right based on the RS Media's perspective.
Forward 09   N/A /usr/bin/robot/scripts/BasicMove.sh 09 2  
         
Actions          
Description          
Track blue       /usr/bin/robot/scripts/track_color.sh blue ?  
Track green       /usr/bin/robot/scripts/track_color.sh green ?  
Track human       /usr/bin/robot/scripts/track_color.sh human ?  
Track red       /usr/bin/robot/scripts/track_color.sh red ?  
Clear screen       /usr/bin/robot/scripts/clear_screen.sh  
         
Default Bcons          
Description          
Right arm drop 10     /usr/bin/robot/scripts/DefaultBcon.sh 10  
Left arm drop 11     /usr/bin/robot/scripts/DefaultBcon.sh 11  
Right arm give 12     /usr/bin/robot/scripts/DefaultBcon.sh 12  
Left arm give 13     /usr/bin/robot/scripts/DefaultBcon.sh 13  
Right arm grab 14     /usr/bin/robot/scripts/DefaultBcon.sh 14  
Left arm grab 15     /usr/bin/robot/scripts/DefaultBcon.sh 15  
Right arm roll 16     /usr/bin/robot/scripts/DefaultBcon.sh 16  
Left arm roll 17     /usr/bin/robot/scripts/DefaultBcon.sh 17  
Right arm throw 18     /usr/bin/robot/scripts/DefaultBcon.sh 18  
Left arm throw 19     /usr/bin/robot/scripts/DefaultBcon.sh 19  
Right arm chop 1a     /usr/bin/robot/scripts/DefaultBcon.sh 1a  
Left arm chop 1b     /usr/bin/robot/scripts/DefaultBcon.sh 1b  
Right foot kick 1c     /usr/bin/robot/scripts/DefaultBcon.sh 1c  
Left foot kick 1d     /usr/bin/robot/scripts/DefaultBcon.sh 1d  
Right arm push 1e     /usr/bin/robot/scripts/DefaultBcon.sh 1e  
Left arm push 1f     /usr/bin/robot/scripts/DefaultBcon.sh 1f  
Dance 20     /usr/bin/robot/scripts/DefaultBcon.sh 20  
Lie down 21     /usr/bin/robot/scripts/DefaultBcon.sh 21  
Sit up 22     /usr/bin/robot/scripts/DefaultBcon.sh 22  
Stand up 23     /usr/bin/robot/scripts/DefaultBcon.sh 23  
RS2 interact 24     /usr/bin/robot/scripts/DefaultBcon.sh 24  
Roboraptor interact 25     /usr/bin/robot/scripts/DefaultBcon.sh 25  
Robopet interact 26     /usr/bin/robot/scripts/DefaultBcon.sh 26  
Wave hands 27     /usr/bin/robot/scripts/DefaultBcon.sh 27  
Flinch 28     /usr/bin/robot/scripts/DefaultBcon.sh 28  
Introduction 2a     /usr/bin/robot/scripts/DefaultBcon.sh 2a  
Right arm high pickup 2b     /usr/bin/robot/scripts/DefaultBcon.sh 2b  
Left arm high pickup 2c     /usr/bin/robot/scripts/DefaultBcon.sh 2c  
Right arm low pickup 2d     /usr/bin/robot/scripts/DefaultBcon.sh 2d  
Left arm low pickup 2e     /usr/bin/robot/scripts/DefaultBcon.sh 2e  
Default position 2f     /usr/bin/robot/scripts/DefaultBcon.sh 2f  
Default reset 30     /usr/bin/robot/scripts/DefaultBcon.sh 30  
Puppet mode program 32     /usr/bin/robot/scripts/DefaultBcon.sh 32  
Puppet mode playback 33     /usr/bin/robot/scripts/DefaultBcon.sh 33  
Main program mode 34     /usr/bin/robot/scripts/DefaultBcon.sh 34  
Vision program mode 35     /usr/bin/robot/scripts/DefaultBcon.sh 35  
Sound program mode 36     /usr/bin/robot/scripts/DefaultBcon.sh 36  
Guard mode 37     /usr/bin/robot/scripts/DefaultBcon.sh 37  
Main program playback 38     /usr/bin/robot/scripts/DefaultBcon.sh 38  
Right arm wave 39     /usr/bin/robot/scripts/DefaultBcon.sh 39  
Right hand shake 3a     /usr/bin/robot/scripts/DefaultBcon.sh 3a  
Left arm wave 3b     /usr/bin/robot/scripts/DefaultBcon.sh 3b  
Left hand shake 3c     /usr/bin/robot/scripts/DefaultBcon.sh 3c  
Roboreptile interact 3d     /usr/bin/robot/scripts/DefaultBcon.sh 3d  

The above table accesses the control through applications and scripts. But ultimately the robot is controlled by a series of send_robot_cmd calls. This table shows those calls.

Parameters 1 2 3 4 5
         
Upper body /usr/bin/robot/send_robot_cmd
Description     Command Position Speed
Head up down 0xff 0x03 0x01 0x00 0x08
Head left right 0xff 0x03 0x02 0x00 0x08
Left arm 0xff 0x03 0x03 0x00 0x08
Right arm 0xff 0x03 0x04 0x00 0x08
Left hand 0xff 0x03 0x05 0x00 0x08
Right hand 0xff 0x03 0x06 0x00 0x08
Body lean forward backward 0xff 0x03 0x07 0x00 0x08
Body waist twist 0xff 0x03 0x08 0x00 0x08
Body tilt left right 0xff 0x03 0x09 0x00 0x08
Left leg forward back 0xff 0x03 0x0a 0x00 0x08
Right leg forward back 0xff 0x03 0x0b 0x00 0x08
         
Walk          
Description          
Forward 0xff 0x01 0x01 steps 0x00
Forward 0xff 0x01 0x02 steps 0x00
Forward 0xff 0x01 0x03 steps 0x00
Reverse 0xff 0x01 0x04 steps 0x00
Reverse 0xff 0x01 0x05 steps 0x00
Right turn in place 0xff 0x01 0x06 steps 0x00
Left turn in place 0xff 0x01 0x07 steps 0x00
Forward 0xff 0x01 0x08 steps 0x00
Forward 0xff 0x01 0x09 steps 0x00
         
Actions          
Description          
Track blue /usr/bin/robot/scripts/track_color.sh blue ?
Track green /usr/bin/robot/scripts/track_color.sh green ?
Track human /usr/bin/robot/scripts/track_color.sh human ?
Track red /usr/bin/robot/scripts/track_color.sh red ?
Clear screen /usr/bin/robot/scripts/clear_screen.sh
Vision off 0xff 0x09 0x0d 0x00 0x01
Vision on 0xff 0x09 0x0d 0x01 0x01
Hearing on 0xff 0x09 0x0d 0x00 0x01
Hearing off 0xff 0x09 0x0d 0x02 0x01
         
Default Bcons          
Description          
Right arm drop 0xff 0x02 0x10 0x00 0x00
Left arm drop 0xff 0x02 0x11 0x00 0x00
Right arm give 0xff 0x02 0x12 0x00 0x00
Left arm give 0xff 0x02 0x13 0x00 0x00
Right arm grab 0xff 0x02 0x14 0x00 0x00
Left arm grab 0xff 0x02 0x15 0x00 0x00
Right arm roll 0xff 0x02 0x16 0x00 0x00
Left arm roll 0xff 0x02 0x17 0x00 0x00
Right arm throw 0xff 0x02 0x18 0x00 0x00
Left arm throw 0xff 0x02 0x19 0x00 0x00
Right arm chop 0xff 0x02 0x1a 0x00 0x00
Left arm chop 0xff 0x02 0x1b 0x00 0x00
Right foot kick 0xff 0x02 0x1c 0x00 0x00
Left foot kick 0xff 0x02 0x1d 0x00 0x00
Right arm push 0xff 0x02 0x1e 0x00 0x00
Left arm push 0xff 0x02 0x1f 0x00 0x00
Dance 0xff 0x02 0x20 0x00 0x00
Lie down 0xff 0x02 0x21 0x00 0x00
Sit up 0xff 0x02 0x22 0x00 0x00
Stand up 0xff 0x02 0x23 0x00 0x00
RS2 interact 0xff 0x02 0x24 0x00 0x00
Roboraptor interact 0xff 0x02 0x25 0x00 0x00
Robopet interact 0xff 0x02 0x26 0x00 0x00
Wave hands 0xff 0x02 0x27 0x00 0x00
Flinch 0xff 0x02 0x28 0x00 0x00
Introduction 0xff 0x02 0x2a 0x00 0x00
Right arm high pickup 0xff 0x02 0x2b 0x00 0x00
Left arm high pickup 0xff 0x02 0x2c 0x00 0x00
Right arm low pickup 0xff 0x02 0x2d 0x00 0x00
Left arm low pickup 0xff 0x02 0x2e 0x00 0x00
Default position 0xff 0x02 0x2f 0x00 0x00
Default reset 0xff 0x02 0x30 0x00 0x00
Puppet mode program 0xff 0x02 0x32 0x00 0x00
Puppet mode playback 0xff 0x02 0x33 0x00 0x00
Main program mode 0xff 0x02 0x34 0x00 0x00
Vision program mode 0xff 0x02 0x35 0x00 0x00
Sound program mode 0xff 0x02 0x36 0x00 0x00
Guard mode 0xff 0x02 0x37 0x00 0x00
Main program playback 0xff 0x02 0x38 0x00 0x00
Right arm wave 0xff 0x02 0x39 0x00 0x00
Right hand shake 0xff 0x02 0x3a 0x00 0x00
Left arm wave 0xff 0x02 0x3b 0x00 0x00
Left hand shake 0xff 0x02 0x3c 0x00 0x00
Roboreptile interact 0xff 0x02 0x3d 0x00 0x00

 

The RS Media uses imbedded Linux with a special media board. The camera, display and media processor are all typical of what you would find in a cell phone. For the more curious, I have dumped out the directory listing of the /usr/bin/robot directory and its sub directories. I present that here.

-rwxr-xr-x

1

501

246

170

1/1/2009 0:00

init.sh.ff

-rwxr-xr-x

1

501

246

264596

1/1/2009 0:00

nano-X

-rwxr-xr-x

1

501

246

31392

1/1/2009 0:00

audioplayer

-rwxr-xr-x

1

501

246

24152

1/1/2009 0:00

autotrack_pic

-rwxr-xr-x

1

501

246

16004

1/1/2009 0:00

capture_pic

-rwxr-xr-x

1

501

246

3440

1/1/2009 0:00

clearscreen

-rwxr-xr-x

1

501

246

14624

1/1/2009 0:00

exit

-rwxr-xr-x

1

501

246

79740

1/1/2009 0:00

imageviewer

-rwxr-xr-x

1

501

246

1496

1/1/2009 0:00

init_sd.sh

-rwxr-xr-x

1

501

246

43

1/1/2009 0:00

kill.sh

-rwxr-xr-x

1

501

246

610

1/1/2009 0:00

killbodycon.sh

-rwxr-xr-x

1

501

246

1062952

1/1/2009 0:00

kvm

-rwxr-xr-x

1

501

246

306192

1/1/2009 0:00

main_ui

-rwxr-xr-x

1

501

246

141312

1/1/2009 0:00

mediadaemon

-rwxr-xr-x

1

501

246

4012

1/1/2009 0:00

pipe

-rwxr-xr-x

1

501

246

3572

1/1/2009 0:00

read_confile.dat

-rwxr-xr-x

1

501

246

204

1/1/2009 0:00

run.sh

-rwxr-xr-x

1

501

246

4648

1/1/2009 0:00

send_robot_cmd

-rwxr-xr-x

1

501

246

3252

1/1/2009 0:00

sleep

-rwxr-xr-x

1

501

246

23108

1/1/2009 0:00

start_robot_main

-rwxr-xr-x

1

501

246

21220

1/1/2009 0:00

takemovie

-rwxr-xr-x

1

501

246

63400

1/1/2009 0:00

test_robot

-rwxr-xr-x

1

501

246

12

1/1/2009 0:00

version.txt

-rwxr-xr-x

1

501

246

20200

1/1/2009 0:00

videoplayer

-rwxr-xr-x

1

501

246

3660

1/1/2009 0:00

write_confile.dat

 

 

 

 

 

 

 

ppp:

 

 

 

 

 

 

-rwxr-xr-x

1

501

246

57812

1/1/2009 0:00

ifconfig

-rwxr-xr-x

1

501

246

11100

1/1/2009 0:00

mx1ads_usbserial.o

-rwxr-xr-x

1

501

246

84

1/1/2009 0:00

ppp.sh

-rwxr-xr-x

1

501

246

185812

1/1/2009 0:00

pppd

-rwxr-xr-x

1

501

246

46268

1/1/2009 0:00

route

 

 

 

 

 

 

 

scripts:

 

 

 

 

 

 

-rw-------

1

501

246

12288

1/1/2009 0:00

.start_sound_memo.sh.swp

-rwxr-xr-x

1

501

246

86

1/1/2009 0:00

BasicMove.sh

-rwxr-xr-x

1

501

246

121

1/1/2009 0:00

DefaultBcon.sh

-rwxr-xr-x

1

501

246

106

1/1/2009 0:00

Global.sh

-rwxr-xr-x

1

501

246

4448

1/1/2009 0:00

MotorRel.sh

-rwxr-xr-x

1

501

246

86

1/1/2009 0:00

Robot_Interaction.sh

-rwxr-xr-x

1

501

246

49

1/1/2009 0:00

clear_screen.sh

-rwxr-xr-x

1

501

246

857

1/1/2009 0:00

display_image.sh

-rwxr-xr-x

1

501

246

63

1/1/2009 0:00

enter1.sh

-rwxr-xr-x

1

501

246

27

1/1/2009 0:00

enter2.sh

-rwxr-xr-x

1

501

246

16

1/1/2009 0:00

exit1.sh

-rwxr-xr-x

1

501

246

57

1/1/2009 0:00

exit2.sh

-rwxr-xr-x

1

501

246

1487

1/1/2009 0:00

flinch_autotrack.sh

-rwxr-xr-x

1

501

246

1039

1/1/2009 0:00

get_color_condition.sh

-rwxr-xr-x

1

501

246

917

1/1/2009 0:00

play_audio.sh

-rwxr-xr-x

1

501

246

917

1/1/2009 0:00

play_audio_noui.sh

-rwxr-xr-x

1

501

246

6

1/1/2009 0:00

play_bodycon.sh

-rwxr-xr-x

1

501

246

978

1/1/2009 0:00

play_video.sh

-rwxr-xr-x

1

501

246

3596

1/1/2009 0:00

read_confile.dat

-rwxr-xr-x

1

501

246

969

1/1/2009 0:00

record_audio_start.sh

-rwxr-xr-x

1

501

246

42

1/1/2009 0:00

record_audio_stop.sh

-rwxr-xr-x

1

501

246

967

1/1/2009 0:00

record_video_start.sh

-rwxr-xr-x

1

501

246

42

1/1/2009 0:00

record_video_stop.sh

-rwxr-xr-x

1

501

246

2798

1/1/2009 0:00

restart_system.sh

-rwxr-xr-x

1

501

246

4604

1/1/2009 0:00

send_robot_cmd

-rwxr-xr-x

1

501

246

966

1/1/2009 0:00

start_sound_memo.sh

-rwxr-xr-x

1

501

246

973

1/1/2009 0:00

start_sound_memo_fb.sh

-rwxr-xr-x

1

501

246

966

1/1/2009 0:00

start_video_memo.sh

-rwxr-xr-x

1

501

246

1040

1/1/2009 0:00

take_photo.sh

-rwxr-xr-x

1

501

246

1458

1/1/2009 0:00

take_photo_color.sh

-rwxr-xr-x

1

501

246

1038

1/1/2009 0:00

take_photo_human.sh

-rwxr-xr-x

1

501

246

1036

1/1/2009 0:00

take_photo_manual.sh

-rwxr-xr-x

1

501

246

1148

1/1/2009 0:00

take_photo_timer.sh

-rwxr-xr-x

1

501

246

1040

1/1/2009 0:00

take_quick_photo.sh

lrwxrwxrwx

1

501

246

20

1/1/2009 0:00

time_delay.sh -> /usr/bin/robot/sleep

-rwxr-xr-x

1

501

246

1595

1/1/2009 0:00

track_color.sh

-rwxr-xr-x

1

501

246

958

1/1/2009 0:00

wait_media.sh

-rwxrwxr-x

1

501

246

3168

1/1/2009 0:00

wait_rtn.sh

-rwxr-xr-x

1

501

246

510

1/1/2009 0:00

wait_rtn2.sh

-rwxr-xr-x

1

501

246

3684

1/1/2009 0:00

write_confile.dat

 

 

 

 

 

 

 

state:

 

 

 

 

 

 

-rwxr-xr-x

1

501

246

3628

1/1/2009 0:00

AUTOTRACK_POSITION

-rwxr-xr-x

1

501

246

3624

1/1/2009 0:00

BC_AUDIOPLAYER

-rwxr-xr-x

1

501

246

3620

1/1/2009 0:00

BC_AUTOTRACK

-rwxr-xr-x

1

501

246

3624

1/1/2009 0:00

BC_IMAGEVIEWER

-rwxr-xr-x

1

501

246

3616

1/1/2009 0:00

BC_JAVA

-rwxr-xr-x

1

501

246

3620

1/1/2009 0:00

BC_TAKEMOVIE

-rwxr-xr-x

1

501

246

3624

1/1/2009 0:00

BC_TAKEPICTURE

-rwxr-xr-x

1

501

246

3624

1/1/2009 0:00

BC_VIDEOPLAYER

-rwxr-xr-x

1

501

246

3612

1/1/2009 0:00

RSM_CAMERA_BLUE_HIT

-rwxr-xr-x

1

501

246

3612

1/1/2009 0:00

RSM_CAMERA_GREEN_HIT

-rwxr-xr-x

1

501

246

3612

1/1/2009 0:00

RSM_CAMERA_HUMAN_HIT

-rwxr-xr-x

1

501

246

3612

1/1/2009 0:00

RSM_CAMERA_RED_HIT

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_FOOT_L_B

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_FOOT_L_F

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_FOOT_R_B

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_FOOT_R_F

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_GAUNTLET_L_I

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_GAUNTLET_L_O

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_GAUNTLET_R_I

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_GAUNTLET_R_O

-rwxr-xr-x

1

501

246

4020

1/1/2009 0:00

RSM_GRIPPER_L

-rwxr-xr-x

1

501

246

4020

1/1/2009 0:00

RSM_GRIPPER_R

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_IR_TRIGGER_L_D

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_IR_TRIGGER_L_L

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_IR_TRIGGER_L_R

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_IR_TRIGGER_S_D

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_IR_TRIGGER_S_L

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_IR_TRIGGER_S_R

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_SOUND_CENTER

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_SOUND_LEFT

-rwxr-xr-x

1

501

246

3840

1/1/2009 0:00

RSM_SOUND_RIGHT

 

 

 

 

 

 

 

test:

 

 

 

 

 

 

-rwxr-xr-x

1

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