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Biped Robots Definitions Static Walking The centre of gravity of the robot is always within the area bounded by the feet that are touching the ground Dynamic Walking

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PowerPoint Slideshow about 'Biped Robots' - Gabriel


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Definitions l.jpg
Definitions

  • Static Walking

    • The centre of gravity of the robot is always within the area bounded by the feet that are touching the ground

  • Dynamic Walking

    • At significant periods during the gait the centre of gravity of the robot is outside of the area bounded by the feet that are touching the ground


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History

  • Dynamic Walking Toys

  • Static Walking Wind up Toys

  • Static Walking Robots

  • Dynamic Walking Robots


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Research Labs

  • MIT AI Lab

  • Waseda University

  • HanYang University

  • Honda Labs

  • Sony Labs


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The Walking Problem

  • Design a gait sequence in joint space

  • Provide sensors and actuators at joints

  • Implement a PID controller at each joint

  • Command the PID controllers to follow gait sequence


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Challenges

  • Designing gaits that don’t violate the maximum torque available

  • PID controller will not be able to generate the large torque until the error between the gait and actual joint angle becomes too large.

  • Gait design is a time consuming process that is difficult to implement online in real time


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Raibert’s One Legged Robot

  • One Legged

  • Hopping/Running

  • Simple Dynamic Model


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Leg Lab’s Spring Flamingo

  • Planar biped robot

  • Linear actuators

  • Inverted knees

  • Toe Lift off


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Leg Lab’s M2

  • 3D biped

  • Linear actuators


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Waseda’s

  • Early 3D biped


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KAIST’s

  • DC motors

  • Servomotors

  • Onboard camera


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Singapore Polytechnics Roboerectus

  • Servomotors

  • Gait defines servomotor setpoints


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Honda’s Asimo & P3

  • Commercial humanoid

  • Well defined tasks

  • General Intelligence required


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Sony’s BP

  • Entertainment Robot

  • Commodity Structure

  • Stereo vision


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Designing Gaits

  • Controlling Balance

    • when standing, “not required” when walking

  • Controlling Speed

    • change step size (swing leg must keep up)

  • Controlling Height

    • used to control speed and energy efficiency

  • Generate intermediate joint angles based on these constraints


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Biped Robot Simulators

  • Kinematic Simulators

    • for gait design

  • Dynamic Simulators

    • for control system testing

  • Yobotics Simulation Construction Set

    • dynamic simulation of linked mechanisms


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