Re: (unknown)

Hi,

Mike Jost (FreeTime) contributed some nice routines called gps_euler 
allowing you to determine if and how the robot has fallen down. See 
http://groups.yahoo.com/group/webots-contest/message/1214 for a 
discussion on that.

-Olivier

Mike wrote:

> Anders,
>  
> Here is the routine I use to determine the fall type. 
>  
> The maxAngleX and maxAngleZ are the absolute tilt angles that would 
> result in the robot falling. These are the threshold values for 
> detecting a fall.  The values should be in the range from 0 to (pi / 2).
>  
> The angleX and angleZ values are the values returned from the method 
> eulerAngles().
>  
> if (Math.abs(angleX) < maxAngleX) {
>    if (angleZ > maxAngleZ) { // Fall on Right Side detected. }
>    if (angleZ < -1*maxAngleZ) { // Fall on Left Side detected. }
> }
> else {
>    if (angleX > maxAngleX) { // Fall on Back detected. }
>    if (angleX < -1*maxAngleX) { // Fall on Front detected.}
> }
>  
> Mike Jost
>
>  
> Hi,
> I don't quite understand what the inclinometer method eulerAngles 
> return. The x-value seems to be the inclinometer value in the 
> direction of back_1 (no matter the orientation of the robot), but the 
> z value seems a bit wierd though. For example, a robot standing up 
> straight has z = 0 (as expected), but when lying on its belly the z 
> value is pi, thus z cannot be the tilt value.(?) I would like to find 
> an exclusive criteria telling whether the robot is lying on its side. 
> Any Suggestions?
>
> Best,
> Anders.L


mugjug wrote:

>Hi Olivier,
>
>This is chunky. The competition has eveolved greatly since the last 
>time I updated my controller! 
>
>Can you suggest how to determine if a robot has fallen on the floor 
>facing the floor or facing the sky? I am trying to implement a 
>standup routine. i.e. Which of the sensors are available during the 
>competition? I am currently using the camera, joint positions, 
>distance sensors. Do we have any tilt and robot position sensors 
>available during the match, and what are the value ranges, if it is 
>possible to determine the fall of the robot. 
>
>I have noticed that the foot sensor remains 1 even if the toe of the 
>robot is touching the ground. 
>
>Thanks
>Naveed
>  
>


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