Passive-Based Walking Passive-Based Walking RobotRobot

MARTIJN WISSE, GUILLAUME FELIKSDAL, JAN VAN FRANKENHUYZEN, AND BRIAN MOYER

Robotics & Automation Magazine, IEEE , June 2007, Vol. 14,  P. 52 - 62

Student ID ： M9920105Student ： Chun-Ming SuTeacher ： Ming-Yuan Shieh

PPT製作： 100%

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OutlineOutlineABSTRACT

INTRODUCTION

DESIGN AND CONTROL

WALKING RESULTS

CONCLUSIONS AND FUTURE RESEARCH

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Humanoid robots are expected to become a major market in the future, comparable to that of the PC now.

Generally speaking, there are currently two opposite approaches to stabilization: the trajectory control approach and the passive walking approach.

AbstractAbstract

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The trajectory control approach stems from industrial robotic manipulators.

Vukobratovic recognized that the center of pressure, which he dubbed zero moment point (ZMP).

The passive dynamic walking approach is more promising in terms of efficiency and simplicity.

This walking motion is stable and can be sustained indefinitely if the machine is placed on a slight downward slope.

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IntroductionIntroductionPassive walking

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Design Process

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Design and ControlDesign and ControlStructure

The robot has five internal DoF

1.5 m tall

The knees have mechanical stops

McKibben muscles

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Prototype dimensions in millimeters

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Foot

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Hip mechanism

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McKibben Muscles

A McKibben muscle consists of a compliant tube (usually made of rubber)

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Controller

The control program is a state machine with four states

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Programmed in assembly language on a microchip PIC16F877 microprocessor

The only sensors are the foot contact switches

Four binary valve

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Walking ResultsWalking ResultsGait Characteristics The experimental results are obtained from

more than 150 steps from several trials

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Note that the average forward velocity is 0.47 m/s

Faster than many existing humanoid robots

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Conclusions and Future Conclusions and Future ResearchResearch

Using only two foot contact switches as sensors and simple on/off pneumatic muscle action

It walks at 0.4 m/s

Handle floor disturbances up to 6 mm

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It a promising lead for the development of commercially viable humanoid robots

Simplicity Efficiency The natural look of its motions

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Although promising, our line of research is far from complete

The following is a list of our current and future research steps

Develop a formal definition of what we now call passive-based walking

Define a measure for disturbance handling Add more sensing capability Extend the versatility of the actuation

system

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Thanks for your patienceThanks for your patience

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