Tiago demos
From Robin
Current revision as of 11:44, 14 April 2023
This page is a guide on how to run our TIAgo demos. These demos are simple programs that highlight some of the capabilities of the robot. The intention behind these demos was to have something running at stands, exhibits and events.
Currently there are 6 demos on the robot. All of which may be executed with the web commander.
Contents |
Self presentation
This demo came preprogrammed with the robot. The robot introduces himself and his capabilities. This demo can be run either from the touch screen at the base of tiago, or through the web commander.
Comb hair
The robot combs the hair of a person. This demo is run using the web commander and controller.
Running the demo
Comb1: The robot offers its gripper. Place the comb in the gripper of the robot at a 90 degree angle to the grippers angle of attack pointing upwards, and the bristles pointing left as seen by tiago Close the gripper manually using the controller.
Comb2: Go to initial position for combing. The subject rests his/her head against the bristles of the comb.
Comb3: Tiago combs the side of the head.
Comb4: Tiago combs the top of the head.
Apply lipstick
The robot applies lipstick on a person. This demo is run using the web commander and controller.
Running the demo
Lipstick1: The robot offers its gripper. Place the lipstick coincident with the grippers angle of attack. Close the gripper manually using the controller. Subject places the tip of the lipstick on the middle of his/her lips.
Lipstick4: Tiago applies the lipstick on the subject.
Note: lipstick2 makes the robot go to its home position and lipstick3 makes it offer its gripper again. Both can safely be ignored for this demo. They are for making tiago travel between places whilst holding the lipstick.
Knife game
Disclaimer: DO NOT USE A REAL KNIFE! Use the plastic knife stored with tiago. Tiago plays the knife game with a persons hand. Tiago will stab a knife in the space between the fingers of a persons hand. This demo is run using the web commander and controller.
Preparations
This demo requires a table of a specific height. This height must be preprogrammed in the motions.yaml file of tiago. Test this before doing the actual demo. If this is not adjusted the robot may crash with the table, or do the motions in the air.
Running the demo
Knife1: The robot offers its gripper. Place the knife in the gripper of the robot at a 90 degree angle to the grippers angle of attack pointing downwards. Close the gripper manually using the controller.
Knife4: Tiago goes into position for playing the game. Subject places his/her hand on the right side of the knife as seen by tiago.
Knife5: Tiago plays the knife game.
Note: knife6 is the home position of the robot and can be ignored. Make sure to release the knife before going to the home position or tiago may stab him/herself.
Glass motion
The robot will take an object from one subject and deliver it to someone else. The name of the demo comes from presenting someone with a glass of water. This demo us run using the web commander and controller
Playing the demo
Glass motion1: The robot offers its gripper. Place an object in the gripper of the robot. Close the robot manually using the controller.
Glass motion2: Tiago retracts its arm slightly to be more stable while moving. Drive tiago, using the controller, to the subject that is to receive the object. Stop slightly in front of the subject.
Glass motion3: Tiago extends its arm again for delivering the object. The subject grabs the object. The gripper is opened manually with the controller.
Note: avoid making sudden changes in direction when driving. If you use a glass of water, drive as smoothly as possible and don't fill the glass completely
