bigdog overview - offiziere.ch · leg kinematic data and odometry • adjust posture to optimize...
TRANSCRIPT
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BigDog Overview
November 22, 2008
©2008 Boston Dynamics
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Actuators
Leg Spring
Force Sensor
Computer
Heat Exchanger
Engine/PumpGyro/IMU
Hip
Knee
Ankle
Foot
BigDog Architecture
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Engine
• Leopard go-kart engine• One cylinder• Two stroke• Water cooled• 9,000 rpm• ~15 hp• Electric starter
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Hydraulic System• Variable displacement hydraulic pump (3,000 psi)• Custom actuator package (x16)
– Low-friction hydrodynamic seals– 2-stage electro-hydraulic servovalve– Position sensor– Force sensor
• Heat exchanger• Various filters, manifolds, accumulators, and
valves
Hydraulic Actuator Package
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Hydraulic SystemEngine
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Actuation
Compliance+
Actuation
Compliance+
Dissipation
Animal
Multi-jointed Legs
Mor
e co
mpl
ianc
eLe
ss a
ctua
tion
Actuation
Compliance+
Actuation
Dissipation
BigDog
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Component WeightHeat Exchanger 9.62 lbsEngine / Drive / Pump: 26 lbs / 1.42 lbs / 6.5 lbsFuel tank / Fuel: 2.1 lbs / 10.4 lbsOil tank: 3.6 lbs
Component Layout
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Joint angles& forces
Stereo VisionRing Laser Gyro & Linear Accelerometers
Engine Temp& Speed
Battery Voltage
Hydraulic Pressure, Flow & Temp
Sensors
LIDARGPS
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1616
LegseBox
Actuator, ankle forceServo valve current
Load CellCurrent Sensor
2BodyEngine RPMBattery voltageGovernor
2BodyOil pressurePressure
69Total
4BodyOil flowFlow
3BodyEngine, Oil temperatureTemperature
6Body3 angular rates3 linear accelerationsGyro
3
1
Body
Body
Obstacles, Optic FlowGround Slope
Human Tracking
Stereo Vision
LIDAR
16Knee,Hip (2),Ankle
Joint displacementsLinear Pot
NLocationMeasurement QuantityType
Proprioception
Exteroception
Homeostasis
BigDog Sensors
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Onboard Computer
• PC104 stack• Pentium CPU• QNX real-time OS• Code: C++• Custom I/O interface boards• Functions Performed:
– Control– Sensing– Data Collection– Communications– Electric Power Distribution
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Software ArchitecturePLANNING 2Hz
CONTROL 200Hz
DEVICE DRIVERS 1kHz
POSE ESTIMATION 200Hz
HUMAN FOLLOWING 10Hz DATA LOGGING 200Hz
ACTUATION 1kHz
IMU
GPSLIDAR
Joint Data
LIDAR
Object Tracking
Terrain Map
Visual Odometry
World Position, Orientation
IMU
GPS
Visual Odometry
Leg Kinematics
Position Terrain Map Laser Data
Cost Map
Planned Path
Smoothed Path
IMU Smoothed Path Joint Data
Steering Command
Gait Control
Actuation Commands
30 SecFault Log
Long TermData Log
5k vars
Engineering Interface
Operator Interface
IK
TDLO
Position Servos Force Servos
900 MHz RF
802.11
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Software Processes
200 Hz1,000 Hz200 HzUpdate Frequency:
Log engineering data for performance development and failure analysis.
Joint control, read sensors, command actuators, engine control.
Main process. Balances and steers robot, odometry, communicates with operator.
Description:LoggingServoControlFunction:
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Vest Operator Control Unit (OCU)
Head Mounted Display
900 MhzAntenna
900 MhzRadio
OCU Computer
Battery
Steering controller
HMD Electronics
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Support - Bounce on springy legs
Balance - Move legs with symmetry to achieve balance
Posture - Keep body level using stance legs
Control Principles
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Maintain Body Posture• Control of body posture
through force control
Net force & moment
Hip torque control
Control – BigDog
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Maintain Body Posture• Control of body posture
through force controlMaintain Ground Contact• Force control through
compliant leg shock Position control
Net force & moment
Hip torque control
Control – BigDog
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Stance leg motion predicts lateral veloc. and accel. for
swing leg placement
Maintain Body Posture• Control of body posture
through force controlMaintain Ground Contact• Force control through
compliant leg shockMaintain Lateral Balance• Place feet to control body
lateral velocity
New stance legs
Lateral velocity
Control – BigDog
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• Estimate ground plane using history of leg kinematic data and odometry
• Adjust posture to optimize leg strength while maintaining reach on terrain
• Use traction control to avoid, detect and recover from foot slips
• Move legs to avoid leg collisions
• Determine ego-motion using kinematic, inertial and visual odometry
Additional Controls
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• Engine Power Control.• Engine RPM regulated in response to actual
and predicted load.• Ground steepness, ground roughness, and
lateral body velocity predict demand.
• Leg Collision Avoidance.• Adjacent legs have overlapping workspace.• Swing leg trajectories avoid hitting adjacent
stance legs.
Trot Control Features
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• X – Closed loop. Speed error corrected by x direction foot forces.
• Y – Lateral foot position chosen to offset unwanted lateral body velocity.
• Z
• Roll
• Pitch
• Yaw
Trot Control
Coupled Controller. Corrections for height and Euler errors map to y and z direction foot forces.
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• Follow leader without direct driving and without GPS:– Leader wears retro-reflective marker– SICK LIDAR used to locate leader and generate steering signals– BigDog follows at approximate fixed distance
LIDAR Leader Tracking
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EndEnd