recent developments in passive dynamic walking robots
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Recent Developments in Passive Dynamic Walking Robots. Seminar. Arend L. Schwab Google: Arend Schwab [I’m Feeling Lucky]. May 13, 2005 University of Nottingham, UK. Laboratory for Engineering Mechanics Faculty of Mechanical Engineering. Acknowledgement. Cornell University: Andy Ruina - PowerPoint PPT PresentationTRANSCRIPT
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Vermelding onderdeel organisatie
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Recent Developments in Passive Dynamic Walking Robots
Seminar
May 13, 2005 University of Nottingham, UK
Laboratory for Engineering MechanicsFaculty of Mechanical Engineering
Arend L. SchwabGoogle: Arend Schwab [I’m Feeling Lucky]
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Acknowledgement
TUdelft:Martijn WisseJan van FrankenhuyzenRichard van der LindeFrans van der HelmJaap Meijaard… MSc students
Cornell University:Andy RuinaMariano GarciaMike Coleman
Insitu Group: Tad Mc Geer
Collins, S., Ruina, A., Tedrake, R. and Wisse, M., 2005. ``Efficient Bipeal Robots Based on Passive-Dynamic Walkers’’, Science 307: 1082-1085
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Contents
• Passive Dynamic Walkers• Passive Dynamic Robots• The Simplest Walker• Cyclic Motion; Stability & Basin of Attraction• Stability: Fore-Aft and Sideways• Conclusions
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Walking Robots-Anthropomorphic Design-Energy Efficient Ct=(energy used)/(weight*distance)=0.2
Museon 2001 Mike 2002 Max 2003 Denise 2004
Stappo 1995 Bob 2000 Baps 2001
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Passive Dynamic Walking
Wire Walker by G. T. Fallis Patented in 1888.
Wire Walker, Model 2002
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Simplest Walking Model
Scaling with: M, l and g and limit case: m/M -> 0
Leaves one free parameter:
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Walking Motion
Walking Motion in Phase Plane
nn
1
Cyclic Motion if
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Family of Stable Cyclic Solutions
Stability of Cyclic Motion Determined by Characteristic Multipliers ||<1 But How Stable?
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Basin of Attraction of Cyclic Motion
Cyclic Motion (Fixed Point) : )1561.0,1534.0(),(
Poincare Section
with basin of Attractionand failure modes:-falling Forward-falling Backward-Running
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Basin of Attraction (Cont’d)Basin of Attraction: askew & enlarged
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A few steps into the Basin of Attraction
x = Cyclic Motion
1 = Start
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Effect of the Slope on the BOA
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Simplest Walking Robot
Simplest Walker (1999): 2D, straight legs and point feetwalking down a shallow slope.(copy of the 1988 Tad McGeer walker)
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Bob: a Bipedal Robot based on Simulations
Bob (2000): 3D, Flat Feet, Knees and Ankle Actuation
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Robot with Knees, Round Feet, and Actuation
Mike (2002)
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For-Aft Stability or How to Keep from Falling ForwardSwing Leg Control:’’You will never fall forward if you put your swing leg fast enough
in front of your stance leg’’
Uncontrolled Swing Leg Control
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Adding an Upper Body
Max (2003) Bisecting Hip Mechanism
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Adding an Upper Body
Max 2003 On Level Ground Self-Starting
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Going into 3DSideway Stability by means of Lean-to-yaw Coupling
As in a Skateboard:
Velocity dependent Stability
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Going into 3DSideway Stability by means of Lean-to-yaw Coupling
Or as in a Bicycle:
Velocity dependent Stability
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Going into 3D: Denise
Bisecting Hip Mechanism
Tilted Ankle Joint
Lean-to-yaw Coupling
Upper Body
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Going into 3D: Denise
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Conclusions
Passive Dynamic Robots:
- use less control and less energy - walk more naturally.- help understand human walking.