Webots User Guide

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Foreword

Thanks

1.Installing Webots

2.Upgrading from Webots 2

3.Getting Started with Webots

4.Tutorial: Modelling and simulating your robot

5.Robot and Supervisor Controllers

6.Tutorial: Using the KheperaTM robot

7.ALife Contest

     

6.6 Working extension turrets

6.6.1 The K213 linear vision turret

The example world khepera_k213.wbt contains a complete working case for the K213 linear vision turret. The principles are the same as for the simple Khepera example, except that additional functions are used for enabling and reading the pixels from the camera. The function camera_get_image returns an array of unsigned characters representing the image. The macro camera_image_get_grey is used to retrieve the value of each pixel. As seen on figure 6.5, the camera image is displayed in the controller window as grey levels and as an histogram.

khepera_k213_controls

Figure 6.5: Khepera K213 controls

6.6.2 The Gripper turret

figure 6.6 shows the gripper.wbt example. In this example a model of a Khepera is equipped with a Gripper device. It can grab red cylinders, carry them away and put them down. From a modelling point of view, the Gripper turret is made up of two Webots devices:

  • A Servo node which represents the servo motor controlling the height of the gripper (rotation).

  • A Gripper node which represents the gripping device: the two fingers.

These devices can be configured to match more precisely the real one or to try new designs. For example, it is possible to configure the maximum speed and acceleration of the Servo node, simply by changing the corresponding fields of that node in the scene tree window.

khepera_gripper

Figure 6.6: Khepera Gripper

However, the current version of Webots do not yet support the transfer of controllers using a gripper to the real Khepera robot. But if this feature is very important for you, please contact Cyberbotics Ltd. and we will see how we can help you implement this feature. Webots is an open platform and Cyberbotics people are open minded, so there is always a solution to any problem. Cyberbotics's support can be reached by e-mail a the following address:

<support@cyberbotics.com>

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