biped robots l.
Download
Skip this Video
Download Presentation
Biped Robots

Loading in 2 Seconds...

play fullscreen
1 / 16

Biped Robots - PowerPoint PPT Presentation


  • 552 Views
  • Uploaded on

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

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'Biped Robots' - Gabriel


Download Now An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
definitions
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
history
History
  • Dynamic Walking Toys
  • Static Walking Wind up Toys
  • Static Walking Robots
  • Dynamic Walking Robots
research labs
Research Labs
  • MIT AI Lab
  • Waseda University
  • HanYang University
  • Honda Labs
  • Sony Labs
the walking problem
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
challenges
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
raibert s one legged robot
Raibert’s One Legged Robot
  • One Legged
  • Hopping/Running
  • Simple Dynamic Model
leg lab s spring flamingo
Leg Lab’s Spring Flamingo
  • Planar biped robot
  • Linear actuators
  • Inverted knees
  • Toe Lift off
leg lab s m2
Leg Lab’s M2
  • 3D biped
  • Linear actuators
waseda s
Waseda’s
  • Early 3D biped
kaist s
KAIST’s
  • DC motors
  • Servomotors
  • Onboard camera
singapore polytechnics roboerectus
Singapore Polytechnics Roboerectus
  • Servomotors
  • Gait defines servomotor setpoints
honda s asimo p3
Honda’s Asimo & P3
  • Commercial humanoid
  • Well defined tasks
  • General Intelligence required
sony s bp
Sony’s BP
  • Entertainment Robot
  • Commodity Structure
  • Stereo vision
designing gaits
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
biped robot simulators
Biped Robot Simulators
  • Kinematic Simulators
    • for gait design
  • Dynamic Simulators
    • for control system testing
  • Yobotics Simulation Construction Set
    • dynamic simulation of linked mechanisms