Useful Tools

Zero-point Calibration

Since Dynamixel motors lack an inherent zero point, a reliable method is needed to recalibrate after assembly, which is frequent during repairs or design iterations. We design calibration devices in CAD that quickly align the robot to its zero point, defined as standing with both arms besides the body. The process takes less than a minute. We show our design and calibration process in the Zero-point Calibration section.

System Identification

Inspired by Haarnoja et al., we collect sysID data by commanding the motors to track a chirp signal and use the resulting position tracking data to fit an actuation model as described in Grandia et al. We provide the detailed procedure in the System Identification (WIP) section.

Keyframe Animation

Keyframe animation is a cornerstone of character animation, but it provides only kinematic data, with no guarantee of dynamic feasibility. To address this, we developed software integrating MuJoCo with a GUI, enabling real-time tuning and validation of keyframes and motion trajectories generated through linear interpolation with user-defined timings. We introduce the software and its features in the Keyframe Animation section.

Onshape to Robot Descriptions

We use Onshape to design ToddlerBot and its components. To transfer the design to the robot, we need to convert the Onshape assembly to URDF and MJCF files. We provide a detailed guide in the Onshape to Robot Descriptions section.