Application of Artificial Intelligence to a Humanoid Robot for Stress Treatment

System Execution

Step 1

Enable permissions

sudo chmod 666 /dev/ttyUSB0

Step 2

Launch the full system

roslaunch yaren_u2d2 yaren_full.launch

Adding Movements

Step 1

Enable permissions

sudo chmod 666 /dev/ttyUSB0

Step 2

roslaunch yaren_u2d2 yaren_communication_datos.launch

Activate motor torque (see the image — section 1).
Manually move the joints to a desired position.
Then, print those positions (section 2) to save them into a .txt file.
Save the .txt file and associate it in the config.
Section 3 allows you to manually enter an array of positions, and section 4 is for defining routines (i.e., multiple positions).