biped robots. definitions static walking static walking the centre of gravity of the robot is always...
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Biped RobotsBiped Robots
DefinitionsDefinitions
Static WalkingStatic Walking The centre of gravity of the robot is The centre of gravity of the robot is
always within the area bounded by the always within the area bounded by the feet that are touching the groundfeet that are touching the ground
Dynamic WalkingDynamic Walking At significant periods during the gait the At significant periods during the gait the
centre of gravity of the robot is outside of centre of gravity of the robot is outside of the area bounded by the feet that are the area bounded by the feet that are touching the groundtouching the ground
HistoryHistory
Dynamic Walking ToysDynamic Walking Toys Static Walking Wind up ToysStatic Walking Wind up Toys Static Walking RobotsStatic Walking Robots Dynamic Walking RobotsDynamic Walking Robots
Research LabsResearch Labs
MIT AI LabMIT AI Lab Waseda UniversityWaseda University HanYang UniversityHanYang University Honda LabsHonda Labs Sony LabsSony Labs
The Walking ProblemThe Walking Problem
Design a gait sequence in joint spaceDesign a gait sequence in joint space Provide sensors and actuators at Provide sensors and actuators at
jointsjoints Implement a PID controller at each Implement a PID controller at each
jointjoint Command the PID controllers to Command the PID controllers to
follow gait sequencefollow gait sequence
ChallengesChallenges
Designing gaits that don’t violate the Designing gaits that don’t violate the maximum torque availablemaximum torque available
PID controller will not be able to generate PID controller will not be able to generate the large torque until the error between the large torque until the error between the gait and actual joint angle becomes the gait and actual joint angle becomes too large.too large.
Gait design is a time consuming process Gait design is a time consuming process that is difficult to implement online in that is difficult to implement online in real timereal time
Raibert’s One Legged RobotRaibert’s One Legged Robot
One LeggedOne Legged Hopping/RunningHopping/Running Simple Dynamic ModelSimple Dynamic Model
Leg Lab’s Spring FlamingoLeg Lab’s Spring Flamingo
Planar biped robotPlanar biped robot Linear actuatorsLinear actuators Inverted kneesInverted knees Toe Lift offToe Lift off
Leg Lab’s M2Leg Lab’s M2
3D biped3D biped Linear actuatorsLinear actuators
Waseda’sWaseda’s
Early 3D bipedEarly 3D biped
KAIST’sKAIST’s
DC motorsDC motors ServomotorsServomotors Onboard cameraOnboard camera
Singapore Polytechnics Singapore Polytechnics RoboerectusRoboerectus
ServomotorsServomotors Gait defines servomotor setpointsGait defines servomotor setpoints
Honda’s Asimo & P3Honda’s Asimo & P3
Commercial humanoidCommercial humanoid Well defined tasksWell defined tasks General Intelligence requiredGeneral Intelligence required
Sony’s BPSony’s BP
Entertainment RobotEntertainment Robot Commodity StructureCommodity Structure Stereo visionStereo vision
Designing GaitsDesigning Gaits
Controlling BalanceControlling Balance when standing, “not required” when walkingwhen standing, “not required” when walking
Controlling SpeedControlling Speed change step size (swing leg must keep up)change step size (swing leg must keep up)
Controlling HeightControlling Height used to control speed and energy efficiencyused to control speed and energy efficiency
Generate intermediate joint angles based on Generate intermediate joint angles based on these constraintsthese constraints
Biped Robot SimulatorsBiped Robot Simulators
Kinematic SimulatorsKinematic Simulators for gait designfor gait design
Dynamic SimulatorsDynamic Simulators for control system testingfor control system testing
Yobotics Simulation Construction SetYobotics Simulation Construction Set dynamic simulation of linked dynamic simulation of linked
mechanismsmechanisms