walking robots dr. leonid paramonov course: ttk6 – robotics 13.09.2013
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Walking Robots Dr. Leonid Paramonov Course: TTK6 – Robotics 13.09.2013. Talk overview. Review of state of the art in walking robots Current walking robot project at ITK NTNU (student project opportunities). Walking robots classification. - PowerPoint PPT PresentationTRANSCRIPT
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Walking Robots
Dr. Leonid Paramonov
Course: TTK6 – Robotics
13.09.2013
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Talk overview
Review of state of the art in walking robots Current walking robot project at ITK NTNU (student
project opportunities)
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Walking robots classification
“Quasi-static” humanoid robots or the ones based on typical topology of industrial robots
2 dimensional walkers Based on passive walking mechanisms Biologically inspired robots Dynamic multi-pedal robots
* the current tendency in the field is in slow merging of different types of walking robot concepts
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Quasi-static topologyProbably above 90% of all existing walking robots and the
absolute majority of DIY robotics
Relying on static stability of the structure depending on position of the centre of mass of the robot above robot's footprint
In a sense the dynamical forces are not desired here because they mess up the stability (design conflict)
Coordinated motion of multiple DoF's
Difficulty in motion planning which is in many cases just pre-recorded trajectories
Recent advances in the field
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Why industrial robot topology?
Typical design – rigid links with cylindrical joints as DoFs controlled by geared DC/brushless motors
Often the dynamical trajectory planning for industrial applications requires compensation of the dynamic forces to “free” the robot for a trajectory following task
Conceptual problems of this robot topology
The worst possible place for a torque actuator Effective inertia of the geared actuators
JE = n2 * J, where n is the gearbox ratio
Design - “exponential law”
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Asimo, Honda
In development since 1980s
Very impressive recent developments like running, hopping on one and two feet
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High power legs
by JSK Lab,
Tokyo University
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Humanoid robots by Kawada Industries Inc.
Closely related to JSK Lab in University Tokyo
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Viki humanoid
by SDU, Odense, Denmark
World champion in CoboCup 2002 free style competitions
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Petman, Boston Dynamics
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Atlas, Boston Dynamics
Is being currently developed for DARPA Robotics Challenge
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2D “Pole walkers”
Spring Flamingo, MIT, Leg Lab
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2D “Pole walkers”
Rabbit, Grenoble, France
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2D “Pole walkers”
MABLE, University of Michigan
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Passive walkers
Walking down a small inclination slope using potential energy
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Passive walkers
Research passive walkers - energy efficient periodic gaits
Actuated walkers using mechanical principles close to passive ones (example “Ranger” marathon walker by Cornell University)
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Biologically inspired dynamic walkers/runners (not only bipeds)
Elastic compliant actuators, biologically inspired mechanical
structures, dynamic periodic gaits
Boston Dynamics: Big Dog, RoboMule, Cheetah (fastest running robot on Earth)
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Biologically inspired dynamic walkers/runners (not only bipeds)
The Big Dog robot
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Biologically inspired dynamic walkers/runners (not only bipeds)
The RoboMule robot
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Biologically inspired dynamic walkers/runners (not only bipeds)
The Cheetah robot
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Biologically inspired dynamic walkers/runners (not only bipeds)
MIT Cheetah robot
Cheetah cub robot by EPFL
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Walking robot project
Existing theoretical result for 2D walker
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Walking robot project
2D “Pole walker”, 2 passive degrees of freedom, 1 actuator
Theoretical challenges
Nonlinear control of periodic motions Trajectory planning with ground collisions Controller design
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Walking robot project
Design challenges
Purpose built for verification of a specific theoretical results Direct drive actuator without gear Integration Experiments