Knowledge base - HumanED/humaned-exo GitHub Wiki

Raspberry Pi Setup

Install the Operating System: Using the Raspberry Pi Imager, flash the SD card with an appropriate OS. We are using the Raspberry Pi OS (64-bit) (Raspbian Bookworm).
Update & Upgrade:
```
sudo apt update && sudo apt upgrade
```
Setting up Remote Desktop 1(https://github.com/shehan-m/humaned-exo/wiki/Moteus-Setup/_edit#references): This is step is optional but, recommended so that you do not need an external monitor, keyboard, and mouse to use the Pi.
```
sudo apt install xrdp
```
Now, check if the xrdp server is running using:
```
sudo systemctl status xrdp
```
If it is not running, use the following command to start it:
```
sudo systemctl start xrdp
```

Connecting to the Pi using Remote Desktop

Launch Remote Desktop Connection:

Enter login details & connect: Enter the IP address of the raspberry pi and the username. Then click the connect button.

Note: tview will not work when connected to the Raspberry Pi via remote desktop.

Gravity Compensation

Gravity compensation is a well-known technique in robot design to achieve equilibrium throughout the range of motion and as a result to reduce the loads on the actuator 1(https://www.researchgate.net/publication/285383772_Gravity_compensation_in_robotics). Basically, it's a technique to compensate for the effect of gravity on a robot, so that the robot

Example.

LBR iiwa - Gravity Compensation by KUKA - Robots & Automation

How can this be implemented?

Inverse dynamics.

Useful Resources

git clone using SSH - https://phoenixnap.com/kb/git-clone-ssh

References

[1] - https://www.youtube.com/watch?v=T8ZOZZKsb_c