Get Up Motions
This point is the important one, for which every team should implement some "code" (except those teams that use a B-Human code release >= 2019).
The get up motions for most teams have a lot of room for improvements, and those that struggle with consistent working motions can write me a private message. From my current point of view I highly doubt, that every team can achieve a perfect working get up routine until the RoboCup (even ours has some flaws). That's why everyone should focus at least on the damage prevention part, and not on the success part.
Most of the damage comes from those get up tries that fail. In those cases the robot either keeps lying on the ground (not good but could be worse) or actually falls with full stiffness and does not abort the get up try. These situations damage and break the robots and are the root of the problem of most needed repairs. I (my opinion, not B-Human's) do not want to see this at the coming competition. It hurts to say it, but I am kind of disappointed that seemingly no other team so far implemented an "abort" feature. Just add to most key frames (the different poses the robot interpolates to) two ranges for the torso orientation and if the measured angles are outside this range, abort the get up try, set the stiffness low (and execute a fall motion) and retry.
For example if the robot should have reached a "sitting like" pose, such ranges could be [-30 degree, 40 degree] for the y axis rotation (forward/backward) and [-45 degree, 45 degree] for the x axis rotation (sideways). If the measured torso angles are outside these ranges => abort!
Possible improvements:
Set stiffnes to 0
Head backwards/forwards depending on falling forwards
Maybe bending knees
Could be copied from hulks or implemented from scratch
Possible plan of attack:
First make a new falling behaviour that does absolutely nothing but that does compile
Transition to the new behaviour using the gyrometer
Get Up Motions This point is the important one, for which every team should implement some "code" (except those teams that use a B-Human code release >= 2019). The get up motions for most teams have a lot of room for improvements, and those that struggle with consistent working motions can write me a private message. From my current point of view I highly doubt, that every team can achieve a perfect working get up routine until the RoboCup (even ours has some flaws). That's why everyone should focus at least on the damage prevention part, and not on the success part. Most of the damage comes from those get up tries that fail. In those cases the robot either keeps lying on the ground (not good but could be worse) or actually falls with full stiffness and does not abort the get up try. These situations damage and break the robots and are the root of the problem of most needed repairs. I (my opinion, not B-Human's) do not want to see this at the coming competition. It hurts to say it, but I am kind of disappointed that seemingly no other team so far implemented an "abort" feature. Just add to most key frames (the different poses the robot interpolates to) two ranges for the torso orientation and if the measured angles are outside this range, abort the get up try, set the stiffness low (and execute a fall motion) and retry. For example if the robot should have reached a "sitting like" pose, such ranges could be [-30 degree, 40 degree] for the y axis rotation (forward/backward) and [-45 degree, 45 degree] for the x axis rotation (sideways). If the measured torso angles are outside these ranges => abort!
Possible improvements:
Possible plan of attack: