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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

Seminar

Reading:- Intuitive Control of a Planar Biped Walking Robot

Jerry Pratt and Gill Pratt

introduction
Introduction
  • How is walking stabilised in “Intuitive Control” ?
  • What is Virtual Model Control ?
  • What is the “virtual toe point” ?
intuitive control
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 ?
control strategies
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
biped kinematics
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.
implementing virtual actuators
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).
biped control
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 ?
dual leg implementation
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 ?
spring flamingo implementation
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 ?
experimental results
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 ?
simulation constructions set
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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