| Basic concepts and GUI
Lesson 0: Getting Started
Lesson 0 walks though a simple complete script and describes the overall
structure and GUI.
Lesson 1: Robot Specifications
Lesson 1 describes the section of robot specification in PARSL. Lesson 2:
Simple Gait Specifications
Lesson 2 introduces simple gait specifications, including table, automata
states and transitions, as well as phases, periods and offsets. Lesson 3:
Recording, Editing and Playing
Lesson 3 introduces the interface for recording, as well as editing and
playing back sequences of motion. Advanced concepts Lesson 4:
Control and Parameters
Lesson 4 introduces parameters for scalable gait specifications and control
for on-line tele-operation.
Lesson 5: Conditional Behaviors and Behavior Compositions
Lesson5 introduces conditionals that allow the on-line steering of behaviors
and describes behavior compositions. Lesson
6: Sensors and Conditional Transitions
Lesson 6 provides the use of sensors for
closed loop control. Lesson 7:
Speed, Slack and Instant States
Section 7 introduces more state representations, including speed, slack and
instant states. Appendix
Appendix
A: PARSL Reference Manual
Complete PARSL specification for references.
Appendix B: Gait Library
Basic set of gaits represented in PARSL.
Appendix C: PBSim: PolyBot
Simulator
Detailed description of the use of the simulator. |