motor-control - SKILL.md Agent Skill

name: motor-control version: "1.0.0" tier: methodology description: "Brain-to-body interface for AOS-H1 robot using BCSA V4 actuators. Translates cerebellum motor commands to physical joint control with inverse kinematics." contracts: input: type: object properties: action: type: string enum: [set_pose, set_joint, update, status] end_effector: type: string enum: [right_hand, left_hand, right_foot, left_foot] position: type: array items: {type: number} minItems: 3 maxItems: 3 joint: type: string joint_position: type: number output: type: object required: [success, body_state] properties: success: type: boolean commands: type: array description: "BCSA V4 actuator commands" body_state: type: object description: "Current joint states"

Motor Control Skill

Brain-to-Body Bridge

Translates high-level cognitive motor commands into precise actuator control for the AOS-H1 humanoid robot using BCSA V4 cycloidal drives.

Capabilities

Inverse Kinematics: Calculate joint angles for end-effector positions
Forward Kinematics: Compute body position from joint angles
PD Control: Smooth joint trajectory following
Safety Limits: Enforce joint range limits
BCSA V4 Integration: Native protocol support

Joint Configuration (AOS-H1)

Head (2 DOF)

neck_pitch: ±30°
neck_yaw: ±60°

Arms (4 DOF each)

shoulder_pitch: ±90°
shoulder_roll: -30° to +120°
elbow_pitch: 0° to -150°
wrist_yaw: ±60°

Legs (5 DOF each)

hip_pitch: ±90°
hip_roll: ±30°
knee_pitch: 0° to -150°
ankle_pitch: ±45°
ankle_roll: ±30°

Usage

# Set hand position
result = registry.call('motor-control', {
    'action': 'set_pose',
    'end_effector': 'right_hand',
    'position': [0.3, -0.2, 0.1]  # x, y, z in meters
})

# Update and generate commands
result = registry.call('motor-control', {
    'action': 'update',
    'dt': 0.016
})

# BCSA V4 commands ready to send
commands = result['commands']

Integration

Connects to BCSA V4 actuators via CAN bus:

Baud rate: 1 Mbps
Protocol: BCSA native
Update rate: 60 Hz
Torque control mode

Safety

Joint limits enforced in software
Velocity limits prevent damage
Emergency stop via brain command
Position feedback for closed-loop control