Exploring Tekkotsu Programming
on Mobile Robots

David S. Touretzky and Ethan J. Tira-Thompson
Carnegie Mellon University

Draft version (incomplete), last updated August, 2007

Note: this tutorial applies to Tekkotsu version 4.1, which is currently in beta release, documented at tekkotsu.no-ip.org. Some commands described here are not available in earlier releases.

See also: Dave and Ethan's Cognitive Robotics Lecture Notes

Table of Contents

1. Introduction
2. On-line documentation
3. Files and directories
4. Behaviors
5. Events
6. Motion commands
7. Playing sounds
8. Robot safety
9. Postures and motion sequences
10. Walking
11. State machines
    1. State nodes
    2. Shorthand notation
    3. Defining new types
    4. The storyboard tool
12. World State (outline only)
13. Low-level Vision
    1. Color image segmentation: EasyTrain
    2. The vision pipeline
    3. Ball detection events
14. The Tekkotsu Simulator
15. Visual routines / dual coding representation
    1. VisualRoutinesBehavior and SketchGUI
    2. Sketch primitives
    3. Shape primitives
    4. Shape predicates and functors
    5. Mixing sketch and shape operations
    6. The Mapbuilder (MapBuilderDemo.h)
    7. The Pilot
16. Kinematics
    1. Vectors, matrices, and homogeneous coordinates
    2. Forward kinematics
    3. Inverse kinematics
17. Watchable memory
18. Networking
19. Inter-robot communication
20. Troubleshooting and Debugging