bluemove Using Bluetoothr to Control a YaMoR Modular Robot Semester Project Winter 2004-2005 Cyril Jaquier - K´evinDrapel Supervisors: Professor Auke Ijspeert, Alessandro Crespi, Andres Upegui February 11, 2005 Abstract The Biologically Inspired Robotics Group (BIRG) of the Swiss Federal Institute of Technology in Lausanne (EPFL) is working on modular robotics. Computer simulations are mainly used but prototypes also exist. Most of them are controlled by a wired connection. This document explains how the wires can be replaced by a Bluetooth connection on the YaMoR robot units. Wireless communication allows better freedom of movements and ease of use. Although complete autonomous unit is the final aim, a centralised Java application is used to control every module. The problems and solutions met during the development of this software are discussed in the following pages. Using Bluetoothr to Control a YaMoR Modular Robot Contents 1 Project description 6 1.1 Introduction . 6 2 A literature and projects review 7 2.1 Bluetooth . 7 2.2 Java ............................................ 8 2.3 Bluetoothr in robotics . 8 2.4 Dengoro . 8 2.5 Aibo ERS-31xb series . 8 2.6 Autonomous Systems Lab flying robots (EPFL) . 9 2.6.1 Blimp . 9 2.6.2 Indoor plane - F2 . 9 2.7 µFR-II .......................................... 9 2.8 Monsieur II-P . 10 2.9 Morph (Atom Project) . 10 2.10 Remarks . 10 3 An overview of the Bluetoothr protocol 11 3.1 Introduction . 11 3.2 Piconets and scatternets . 11 3.3 Bluetooth protocol layers and the Bluetooth stack . 12 3.4 The Bluetooth packets scheme . 13 3.5 The Bluetooth implementation in the YaMoR modules . 13 4 Modules 14 4.1 Summary . 14 4.2 Power board . 14 4.2.1 Description . 14 4.2.2 What went right . 15 4.2.3 What went wrong . 15 4.3 FPGA . 15 4.3.1 Description . 15 4.3.2 What went right . 16 4.3.3 What went wrong . 16 4.4 Bluetooth . 16 4.4.1 Description . 16 4.4.2 Control via an USB dongle . 16 4.4.3 Connection . 17 4.4.4 What went right . 18 4.4.5 What went wrong . 18 C. Jaquier - K. Drapel 1 v1.0 - February 11, 2005 Using Bluetoothr to Control a YaMoR Modular Robot 5 Bluemove 19 5.1 Summary . 19 5.2 Java1.5.......................................... 19 5.2.1 Why Java and not another language ? . 19 5.2.2 The Bluetooth stack . 19 5.2.3 Transmission between Bluemove and the module . 20 5.2.4 What went right . 20 5.2.5 What went wrong . 21 5.3 Interface . 22 5.3.1 Description . 22 5.3.2 The different tabs . 23 5.3.3 What went right . 25 5.3.4 What went wrong . 25 5.4 The inners of Bluemove . 26 5.4.1 An overview of Bluemove architecture . 26 5.4.2 Linear and spline interpolation . 26 5.4.3 Persistence . 29 6 Experiments 30 6.1 Two working modules and an inactive skeleton . 30 6.1.1 2-standup . 30 6.1.2 3-stickworm . 30 6.1.3 More examples . 30 7 Further developments 32 7.1 Hardware . 32 7.1.1 Mechanic . 32 7.1.2 Electronic boards . 33 7.2 Software . 33 8 Conclusion 36 A Bluemove short manual 37 A.1 Installation . 37 A.1.1 J2SE 5.0 . 37 A.1.2 Java Bluetooth stack . 37 A.1.3 Bluemove . 38 A.1.4 Launching the application . 38 A.2 User interface . 38 A.2.1 The menu . 38 A.2.2 The tool bar . 38 A.2.3 Timelines tab . 39 A.2.4 Modules Manager tab . 39 A.2.5 Console tab . 39 A.2.6 The status bar . 40 A.3 Tutorial: a small example . 40 A.3.1 Step one: add a module . 40 A.3.2 Step two: edit a module . 40 A.3.3 Step three: add an actuator . 41 A.3.4 Step four: add another module . 41 A.3.5 Step five: draw a module trajectory (spline) . 41 A.3.6 Step six: draw a module trajectory (linear) . 41 A.3.7 Step seven: save the project . 42 A.3.8 Step eight: play . 42 C. Jaquier - K. Drapel 2 v1.0 - February 11, 2005 Using Bluetoothr to Control a YaMoR Modular Robot A.3.9 Conclusion . 42 C. Jaquier - K. Drapel 3 v1.0 - February 11, 2005 Using Bluetoothr to Control a YaMoR Modular Robot List of Figures 1.1 A complete module . 6 2.1 ”Bluetooth: Connect without Cables” . 7 2.2 ”Bluetooth for Java” - APress . 8 2.3 ”Dengoro” controlled by a Toshiba phone . 8 2.4 ”Dengoro” . 8 2.5 The Sony AIBO ERS-31x family . 9 2.6 The ”Blimp” airship . 9 2.7 The ”F2” plane . 9 2.8 The Seiko Epson micro-flying helicopter . 9 2.9 The ”Monsieur-II” robot . 10 2.10 Morph 3 . 10 2.11 The ”Nuvo” robot . 10 3.1 A piconet . ..