Seminar

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# Seminar - PowerPoint PPT Presentation

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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Presentation Transcript

### 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
• 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
• 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
• 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
• 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
• 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
• 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
• 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
• 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
• 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 ?