1 / 21

Scorpion

Scorpion. Autonomous Walking Robot. References. Dirk Spenneberg and Frank Kirchner, An Approach to Autonomous Outdoor Walking Robots. Dirk Spenneberg and Frank Kirchner, Omnidirectional Walking in an Eight Legged Robot. Bernhard Klaassen, Ralf Linnemann, Dirk Spenneberg, Frank

thimba
Download Presentation

Scorpion

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. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Scorpion Autonomous Walking Robot

  2. References Dirk Spenneberg and Frank Kirchner, An Approach to Autonomous Outdoor Walking Robots. Dirk Spenneberg and Frank Kirchner, Omnidirectional Walking in an Eight Legged Robot. Bernhard Klaassen, Ralf Linnemann, Dirk Spenneberg, Frank Kirchner. Biomimetic Walking Robot Scorpion: Control and Modeling. Preprint: to appear in Robotics and Autonomous Systems Journal. Ralf Linnemann, Bernhard Klaassen, and Frank Kirchner, Walking Robot Scorpion – Experiences with a full parametric model.

  3. Robot Overview • 8 legged • About 65 cm long • 12.5 kg, with battery • Speed: 30 cm/sec • Autonomous

  4. Operator • Wireless 28k baud • CCD with audio video link • Issues high level commands • Such as "walk forward", "left", "right", "go up", "go down", "move sideward", "turn"

  5. Proprioceptive Sensors • Motor Encoders for each motor to measure the relative joint angle • Hall-Effect Motor Current Sensors for each motor • The analog load/pressure sensor in each the foot tip • The Power-Management sensors, providing current battery voltage and current power drain • Three dimensional inclinometers(pitch, roll and yaw) • Utrasound distance sensor for obstacle avoidance • Compass sensor for heading control

  6. Scorpion

  7. Outdoor Test

  8. Goals • Immediate design goal: 25 miles in the desert without intervention • “It could be told to go to a particular location to send images back to base from the camera in its tail.“

  9. Higher Level Behaviors • Ultrasound based obstacle avoidance • Compass-based direction control • Speed control, height control • Inclinometer-based pitch control and roll control

  10. Walking Behavior • Biomimetic: based on studying biological motion • In this case: scorpion movement • Two forms: normal motion patterns and reflexes

  11. Central Pattern Generator • Nervous systems produce patterns independent of their sensory input • Neural circuits that produce self-sustaining patterns of behavior

  12. Neural structure • Able to produce rhythmic signals • Used as motor patterns • No sensory feedback • Not learned or adapted • Are low level species specific locomotion behaviors

  13. Controlling the CPGs • Motions for forward, backward, lateral left, etc., implemented as finite state machine • Functionally equivalent to the command neuron pattern • Related to subsumption architecture and its finite state representation

  14. Basic Motion Pattern • Lower level behavior • Combinable “basic motion patterns” (BMP) • Describes a trajectory of the leg in joint angle space • From behavior point of view neuronal ensemble becomes a behavior ensemble • Controls leg in normal circumstance

  15. BMP • More than one may be active at a time • Each may have different strength • Different behaviors may simultaneously influence activation of a BMP • Observed behavior is result of overlaying all the active patterns

  16. Behavior in Practice • Higher level behavioral change • BMPs are stimulated • Desired pattern produced by overlaying all stimulated BMPs • All behavior between any two: forward and lateral right simultaneously means all slopes of the diagonal are possible

  17. Transition • New pattern goes through fading process so changes are smooth • Behavior is result of current stimulation and old also • Signals are generated for the motor controllers

  18. Reflexes • Deal with environmentally induced events • New level of control • Triggered by motor current and angular displacement error • Overwrites CPG for a short time with its own sequence • Example: move leg back and lift higher

  19. Figure reproduced from Spennenberg and Kirchner, An Approach...

More Related