>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
   >>  Common Basic Behaviors
        >>>  do-nothing
        >>>  shutdown
        >>>  special-action
        >>>  stand
        >>>  play-dead
        >>>  walk
   >>  Simple Basic Behaviors
        >>>  go-to-ball
        >>>  go-to-point
        >>>  go-to-ball-without-turning
        >>>  turn-around-point
        >>>  go-forward-to-point
        >>>  go-to-point-and-avoid-obstacles
        >>>  move-the-bridge
        >>>  dog-as-joystick
        >>>  goalie-position
        >>>  goalie-position-return
   >>  Evolution Basic Behaviors
        >>>  evolve-walking-parameters
        >>>  measure-gt2004-parameters
        >>>  measure-gt2004-parameters-blind
        >>>  send-current-gt2004-parameters-and-choose-next
        >>>  next-gt2004-parameters-to-measure
   >>  Potential Field Basic Behaviors
        >>>  potential-field-go-to-pose
        >>>  potential-field-support
        >>>  potential-field-offensive-support
>Options

Basic Behaviors

 

Common Basic Behaviors

Common basic behaviors that are shared by all Xabsl2 BehaviorControl solutions.

do-nothingDoesn't change the motion request
shutdownInitiates a shutdown of the robot
special-actionCalls the special action which is specified by a parameter.
standA behavior for standing around.
play-deadA behavior for playing dead robot.
walkExecutes a normal walk with the given parameters.

 

Simple Basic Behaviors

Simple hard wired basic behaviors.

go-to-ballA behavior that walks to the ball
go-to-pointWalks to a specified point on the field
go-to-ball-without-turninggo-to-ball without turning
turn-around-pointTurns around a given point facing to the point
go-forward-to-pointWalks to a specified point on the field facing forward
go-to-point-and-avoid-obstaclesWalks to a specified point on the field and tries to avoid obstacles on the way there
move-the-bridgeTurns around a given point facing to the point
dog-as-joystickuse a dog as joystick
goalie-positionPositions the goalie inside the goal
goalie-position-returnPositions the goalie inside the goal

 

Evolution Basic Behaviors

Hard wired basic behaviors for walk parameter evolution, measurement and calibration.

evolve-walking-parametersChooses different walking parameters according to a certain evolution strategy.
measure-gt2004-parametersMeasure and calibrate the current GT2004Parameters.
measure-gt2004-parameters-blindMeasure and calibrate the current GT2004Parameters assuming partial blindness.
send-current-gt2004-parameters-and-choose-nextSend current paramaters via packageCognitionMotion to walking engine and choose next one to optimize.
next-gt2004-parameters-to-measureGenerates next overall GT2004 parameters to be measured.

 

Potential Field Basic Behaviors

Basic Behaviors that are based on a potential field approach

potential-field-go-to-poseWalks to a specified point on the field
potential-field-supportWalks to a specified supporting position
potential-field-offensive-supportWalks to a specified offensive supporting position