Programming the Humanoid with Block Coding in PictoBlox

Introduction

Quarky’s humanoid robot kit is a perfect way for students to learn about robot mechanisms, their control, and AI-based applications. With 6 DOF and stability features, it can be programmed to perform complex tasks with precision.

The robot is programmable with PictoBlox. PictoBlox is coding education software using graphical block-based coding and Python programming.

With PictoBlox, you can program the Humanoid to walk, dance, and make other cool moves! You can also create your own actions with special servo motors and servo oscillators.

If you haven’t installed PictoBlox, please follow the instructions:

Windows Installer (.exe)

STEP 1: Download the Pictoblox Installer (.exe) for Windows 7 and above (Release Notes).

Windows Installer 64-bit

Windows Installer 32-bit

STEP 2: Run the .exe file.

Some of the device gives the warning popup. You don’t have to worry, this software is harmless. Click on More info and then click on Run anyway.

STEP 3: Rest of the installation is straight forward, you can follow the popup and check on the option appropriate for your need.

 

Your software is now installed!

macOS Installer

STEP 1: Download the Pictoblox Installer (.dmg).

macOS Installer

STEP 2: Run the .dmg file.

Mobile App Installer

STEP 1: Open Google Play Store on your Smartphone and and search for PictoBlox or visit the link here to head over to the Google Play Store. You can even scan the QR Code below from your Smartphone to head to the PictoBlox App.

Mobile App Installer

STEP 2: Install the PictoBlox App.

Connecting Quarky with PictoBlox

Let’s begin by first connecting Quarky to PictoBlox. Select your preferred type of device i.e. either the desktop/laptop or your smartphone and follow the instructions.

Desktop

Follow the steps below for connecting Quarky to PictoBlox:

1. First, connect Quarky to your laptop using a USB cable.
2. Next, open PictoBlox on your desktop.
3. After that, select Block as your coding environment.
4. Then, click the Board button in the toolbar and select board as Quarky.
   
5. Next, select the appropriate Serial port if the Quarky is connected via USB or the Bluetooth Port if you want to connect Quarky via Bluetooth and press Connect.
   
6. Click on the Upload Firmware button. This will upload the latest firmware in Quarky.
   
   Note: If your device already has the latest firmware, then PictoBlox will show the message – Firmware is already updated. For learning more you can refer to this tutorial: https://ai.thestempedia.com/docs/quarky/quarky-toubleshooting/updating-quarky-firmaware-with-pictoblox/
7. Once the firmware is uploaded, Quarky starts the Getting Started program. This runs only for the first time. Run through it.

And voila! Quarky is now connected to PictoBlox.

Mobile

Follow the steps below for connecting Quarky to PictoBlox:

1. First, power ON Quarky.
2. Open PictoBlox on your smartphone. Go to My Space and make a new project by clicking the ‘+(plus)’ button in the bottom-right corner.
   
3. Then, tap the Board button in the top-right corner of the toolbar.
   Select board as Quarky.
   
4. Next, tap the Connect button:
   Select your device from the list.
   

And voila! Quarky is now connected to PictoBlox.

Quadruped Extension

The Quadruped extension in PictoBlox allows you to control the robot. It has blocks for specific applications. To add the Quadruped extension follow the instructions:

1. Click on the Add Extension button and add the Quarky Quadruped extension.
2. You can find the Quarky Quadruped blocks available in the project.

PictoBlox Blocks for Humanoid

The following blocks are available for the Humanoid:

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The block checks if the specified key is pressed. If the key is being pressed, the block returns “true”; if it is not, it returns “false”.

The is () detected? block checks whether the selected class has been detected or not. If the class is detected, then the block returns true; else, false.

The block adds two values and reports the result. The numbers can be typed directly into the block, or Reporter blocks can be used instead. This block can be stacked inside itself; this can be used to fit more numbers in.

The block adds an item onto the end of the specified list, the item containing the given text.

This block returns whether the specified detection point is detected or not on the specified pose number.

In computer vision, you can get the location and other parameters of the recognized celebrity, brand, and Object using the recognized () () () block.

The is expression of face () () block checks whether the selected face has a particular emotion or not. If the emotion matches, then the block returns true; else, false.

The block reports the specified class confidence value from the selected image feed (camera, stage, costume or backdrop). 0 is low confidence and 1 is high confidence.

The block returns the class label name.

The function returns the QR Code angle detected.

The function returns the latitude or the longitude coordinates of the location.

The block changes the project’s tempo, or speed, to the specified amount, using the unit “bpm”, or “beats per minute”.

The block maps the specified value from the first range to the second range.

The block changes the color of the particular RGB LED of Quarky.

The block sets the specified motor of the Quarky robot to the specified direction (“FORWARD” or “BACKWARD”) and specified speed.

The block returns the state of the specified touch sensor of Quarky. If the touchpad is touched it will return True, else False.

The block reports the specified class confidence value of the selected class. 0 is low confidence and 1 is high confidence.

The () of object () block reports the following attributes of the object: class, x position, y position, width, height, and confidence.

The block reports the specified class confidence value of the selected class. 0 is low confidence and 1 is high confidence.

The block reports the specified class confidence value of the selected class. 0 is low confidence and 1 is high confidence.

The blocks make the sprite go to the specified x and y locations according to the specified coordinate system – world, stage, or relative.

The block reports the analog reading of the sensor connected to the selected pin. The value will vary between 0 to 4095.

The block reverses the forward direction of the specified motor of the Quarky Expansion Board.

The block reports the red, green, or blue value of the color saved from the last data request from the get color from feed () block.

The block reports value 3 of the webhook event.

The block set all the servo motors of the quadruped angles to 90.

The block sets the servo motors of the humanoid hands to the specified angles at the specified speed.

This block sets which ports the left and right servo motors of the pick and place robot are connected to.

The block stores and reports the latest response from the ChatGPT.

This block resets the timer value to 0.0, which is necessary at the start of a project to ensure the Timer block holds the correct value.

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Activity 1: Calibrating Humanoid Robot

In this activity, we are going to calibrate the humanoid robot. Due to some mechanical assembly errors, there may be some misalignment of the servos which can be handled with calibrate left hip () right hip () left foot () right foot () block and calibrate left hand () right hand () block.

Follow the steps:

1. Open a new project in PictoBlox.
2. Connect Quarky to PictoBlox.
3. Click on the Add Extension button and add the Quarky Humanoid extension.
4. Make the following code:

Run the code with Green Flag. Now you have to make sure that the robot has the following orientation:

If you find any twist of angle in the robot, edit the value of the servo motor in the calibrate left hip () right hip () left foot () right foot () block and calibrate left hand () right hand () block. If this step is not done properly, your robot may move in an incorrect manner.

Note: This has to be done only once as the offset values are stored in the memory of the robot.

Activity 2: Control Humanoid Predefined Motions

In this project, we will explain how to run predefined motions in PictoBlox for the Humanoid. The predefined motions allow users to make the robot move forward, backward, left, and right.

Follow the steps:

1. Open a new project in PictoBlox.
2. Connect Quarky to PictoBlox.
3. Click on the Add Extension button and add the Quarky Humanoid extension.
4. There are four predefined motions for Quarky in PictoBlox which can be accessed through do () motion () times at () speed Using the do () motion () times at () speed block, we can control the number of times the motion has to be executed. Motions: Forward, Backward, Left, and Right.
5. Make the following code:
6. Click on the green flag to run the motion sequence.
7. Try running the robot at different speeds and try other actions.

Note:  If you feel that your robot is not running well, make sure to calibrate it.

Conclusion

In conclusion, Quarky‘s humanoid robot kit is an excellent resource to learn about robot mechanisms, their control, and AI–based applications. With PictoBlox, users can program the robot to perform a variety of motions and actions with ease, as well as create their own custom movements with special servo motors and servo oscillators. By following the steps outlined in this lesson, users can easily install PictoBlox and connect Quarky to the software, as well as calibrate the robot and program it to move in different directions.