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Seminar. Reading:- Intuitive Control of a Planar Biped Walking Robot Jerry Pratt and Gill Pratt. Introduction. How is walking stabilised in “Intuitive Control” ? What is Virtual Model Control ? What is the “virtual toe point” ?. Intuitive Control.

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Seminar l.jpg

Seminar

Reading:- Intuitive Control of a Planar Biped Walking Robot

Jerry Pratt and Gill Pratt


Introduction l.jpg
Introduction

  • How is walking stabilised in “Intuitive Control” ?

  • What is Virtual Model Control ?

  • What is the “virtual toe point” ?


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Intuitive Control

  • What is the main criticism of “intuitive controllers”

  • How can automatic learning techniques be used for “intuitive controllers” and what are the benefits of doing so ?


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Control Strategies

  • Discuss how height is stabilised in a biped.

  • Discuss how pitch is stabilised in a biped.

  • Discuss how speed is stabilised in a biped.

  • Discuss how the swing leg placement is controlled in a biped.

  • Discuss how the the support leg transitions are controlled in a biped


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Biped Kinematics

  • What does it mean to say that the “virtual toe point” is a commanded quantity, not a measured one ?

  • Derive the forward kinematic map from frame {A} to frame {B}

  • Derive the Jacobian ABJ.


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Implementing Virtual Actuators

  • What will be the joint torques (t,a,k,h) required to produce a force of (fx, fz, f) on the robot at point B ?

  • Given that the joint torque t is zero derive a constraint equation for (fx, fz, f).

  • Derive the relationship between the remaining joint torques (a,k,h) and the virtual force applied to B for (fz, f).


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Biped Control

  • The calculation of the virtual force does not include any terms for the robot mass and angular moments of inertia. How would you stop the robot falling ?


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Dual Leg Implementation

  • How can the joint torque problem be solved in the double support phase ?

  • Are there any ways that this control can be improved ?


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Spring Flamingo Implementation

  • What constrains the spring flamingo robot to be a 2D biped ?

  • How do the series elastic actuators work ?

  • What are the advantages and disadvantages of having the motors in the body and using cable drives to power the joints ?


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Experimental Results

  • Discuss the robustness properties of the spring flamingo robot and the walking control algorithm ?

  • How would the algorithms be extended for a 3D biped robot system ?


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Simulation Constructions Set

  • Examine the Spring Flamingo and m2 simulations using the Yobotics Simulation Construction Set. (evaluation version available from www.Yobotics.com)

  • Discuss the merits and problems of developing controllers in simulation and then transferring them to real robot systems ?


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