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Robotic Locomotion Howie Choset 16-311

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Robotic Locomotion Howie Choset 16-311

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    1. Robotic Locomotion Howie Choset 16-311

    2. Design Tradeoffs with Mobility Configurations Maneuverability Controllability Traction Climbing ability Stability Efficiency Maintenance Environmental impact Navigational considerations Cost Simplicity in implementation and deployment Versatility Robustness

    3. Differential Drive

    4. Differential Drive (continued) Advantages: Cheap to build Easy to implement Simple design

    5. Problem with Differential Drive: Knobbie Tires

    6. Skid Steering

    7. Synchro Drive

    8. Distributed Actuator Arrays: Virtual Vehicle Modular Distributed Manipulator System Employs use of Omni Wheels

    9. Omni Wheels

    10. Airtrax

    11. Make a Coaster with Omniwheels

    12. Tricycle

    13. Ackerman Steering

    14. Magnets? (Paint Stripping/Bares)

    15. Are wheels good? Power efficient Constant contact with (flat) ground (no impacts) Easy and inexpensive to construct Easy and inexpensive to maintain Easy to understand Minimal steady-state inertial effects

    16. Rocker Bogie

    17. Why Robots and not people, now Safety 30 probes sent to Mars in the last ten years Only 1/3 made it Radiation Cost Without life support and other needs, 1 million dollars per pound 900 pounds of food per person MER $820 million total (for both rovers) $645 million for design/development + $100 million for the Delta launch vehicle and the launch + $75 million for mission operations Return Fuel Landing

    18. Spirit and Opportunity The rovers can generate power with their solar panels and store it in their batteries. The rovers can take color, stereoscopic images of the landscape with a pair of high-resolution cameras mounted on the mast. They can also take thermal readings with a separate thermal-emission spectrometer that uses the mast as a periscope. Scientists can choose a point on the landscape and the rover can drive over to it. The rovers are autonomous -- they drive themselves The rovers can use a drill, mounted on a small arm, to bore into a rock. This drill is officially known as the Rock Abrasion Tool (RAT). The rovers have a magnifying camera, mounted on the same arm as the drill, that scientists can use to carefully look at the fine structure of a rock. The rovers have a mass spectrometer that is able to determine the composition of iron-bearing minerals in rocks. This spectrometer is mounted on the arm, as well. Also on the arm is an alpha-particle X-ray spectrometer that can detect alpha particles and X-rays given off by soil and rocks. These properties also help to determine the composition of the rocks. There are magnets mounted at three different points on the rover. Iron-bearing sand particles will stick to the magnets so that scientists can look at them with the cameras or analyze them with the spectrometers. The rovers can send all of this data back to Earth using one of three different radio antennas.

    19. Sprit (1/4/4)

    20. More Pictures from Spirit

    21. Rocker Bogie

    22. Lunakod: Were we first?

    23. Did they find it? (Russian)

    24. Marsakhod

    25. Articulated Drive: Nomad

    26. UGCV (Crusher) [Bares/Stentz, REC]

    27. IRobot, Packbot

    28. Dragon runner (Schempf, REC)

    29. Gyrover (Brown and co.)

    30. Ball Bot, Hollis

    31. Challenge for next Lab

    32. Framewalker: Jim2

    33. Legged Robots

    34. Dante II

    35. Honda Humanoid

    36. Raibert�s Robots (First ones)

    37. More Raibert robots Quadruped, 1984-1987 Planar Quadruped (Hodgins, 1985-1990)

    38. RHex Kodischek, Buhler, Rizzi

    39. Sprawlita, Cutkowsky

    40. Big Dog, Boston Dynamics

    41. Benefits of Compliance: Robustness Handle unmodeled phenomena Regulate friction (e.g. on textured surfaces) Minimize large forces due to position errors Overcome stiction Increase grasp stability Extra passive degree of freedom for rolling Locally average out normal forces (provides uniform pressure, no precise location) Lower reflected inertia on joints [Pratt] Energy efficiency (probably not for snakes)

    42. Whegs, Quinn

    43. SNAKE ROBOTS: Many DOF�s http://snakerobot.com Thread through tightly packed volumes Redundancy Minimally invasive Enhanced mobility Multi-functional

    44. Hyper-redundant Mechanisms

    45. OmniTread

    46. SAIC/CMU

    47. SARCOS Still looking

    48. Biologically Inspired Gait #1: Linear Progression http://youtube.com/watch?v=xUQ_SMCCPN4

    49. Biologically Inspired Gait #2: Sidewinding

    50. Lateral Undulation Propulsion by summing the longitudinal resultants of posterolateral forces Momentum is conserved Efficiency* increases with lower sliding friction Used for traversing flat clear ground with some irregularities Propulsion by summing the longitudinal resultants of posterolateral forces Momentum is conserved Efficiency* increases with lower sliding friction Used for traversing flat clear ground with some irregularities

    51. Concertina Locomotion

    52. NXT Snake

    53. Are snakes better than legs?

    55. DepthX Wettergreen, Kantor, Fairfield, NASA

    56. ShallowX: Kantor, Choset

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