PPT-Dynamics of Articulated Robots

Kris Hauser ECE 383 ME 442 Spring 2015 Agenda Basic elements of simulation Derive the standard form of the dynamics of an articulated robot in joint space Also works for humans biological systems nonactuated mechanical systems . Lecture 4.3 :. Kinematics and Dynamics. Jürgen . Sturm. Technische. . Universität. . München. Kinematics. Describes . the motion of rigid bodies. Position. Velocity. Acceleration. Jürgen Sturm. &. Quinn Ruddy. Articulated Robots. An articulated robot is a robot with rotary . joints (. e.g. a legged robot or an industrial robot). Articulated robots can range from simple two-jointed structures to systems with 10 or more interacting joints. They are powered by a variety of means, . Benjamin Stephens. Robotics Institute. Compliant Balance and Push Recovery. Full body compliant control. Robustness to large disturbances. Perform useful tasks in human environments. Motivation. Improve the performance and usefulness of complex robots, simplifying controller design by focusing on simpler models that capture important features of the desired behavior. Supervisor. : . Dr. . Yiu. . Siu. Ming. Second Examiner. : . Professor Francis . Y.L.. Chin. Student. : Vu . Thi. . Quynh. . Hoa. Contents. Introduction. Motivation. Related Work. Project Plan. Problem Definitions. in CIVITAS . cities. ”. February. , . 17. th. 2016. Walter Eßer, . ASEAG. Isabell Kremers, ASEAG. Electromobility. in CIVITAS Cities • February, 17. th. 2016 • Cologne. Overview. :. 1. ASEAG, a . Ben Reed. Introduction. Boston Dynamics was founded in 1992. Engineering company that originated as a spinoff form MIT. Specialize in robotics and human simulation software. Funded largely by DARPA (Defense Advanced Research Projects Agency). humans. This research was conducted in order to develop a method of mapping carried out primarily by Lego Mindstorms EV3 robots. The robots were made to use leJOS, allowing them to run Java programs. An algorithm was developed that would make a robot traverse an area, scanning the terrain at a frequency chosen by the user, allowing a balance of speed and precision. One robot can map a flat area of user-given dimensions with satisfactory precision. When additional robots are added, the mapping process is much faster. Based on the number of robots, the area is divided into smaller sections which are then scanned by individual robots. This research shows that robotic mapping systems are viable.. Advanced Math and Science Academy. iRobot, UMass Lowell, and. The Revolving Museum. Robots that make a difference. Home robots. To do things we don’t want to do. Roomba. Military robots. What defines a robot?. Sense. – a robot has to take in information about its environment. Plan. – a robot has to use that information to make a decision. Act. – a robot needs moving parts . to carry out commands. Kris Hauser. CS B659: Principles of Intelligent Robot Motion. Spring . 2013. Agenda. Basic elements of simulation. Derive the . standard form. of the dynamics of an articulated robot in joint space. Spring 2015. Hard Problems. Hardware. Physics. Materials. Power. Software. Information. Sensors. Control. State of the art. Amazon KIVA. Amazon . PrimeAir. Delivery. (. First Delivery. ). Honda . Asimo. M. Veloso, E. Pagello, and H. Kitano (Eds.): RoboCup-99, LNAI 1856, pp. 679­682, 2000.Ó Springer-Verlag Berlin Heidelberg 2000 2 Team DescriptionThe system that implements micro-robot soccer is made Jemin. . Hwangbo. , . Joonho. Lee, Alexey . Dosovitskiy. , Dario . Bellicoso. , . Joonho. Lee, Vassilios . Tsounis. , . Vladlen. . Koltun. , and Marco Hutter .  . Presented by Steven Mazzola. UNI: slm2242. MANNER OF ARTICULATION & PLACE OF ARTICULATION. MRS.K.DEEPA . M.A.,M.Phil.,M.Ed.,M.Phil.,NET. ASSTISTANT PROFESSOR OF . ENGLISH EDUCATION. AVINASHILINGAM . INSTITUTE . FOR HOME SCIENCE AND HIGHER EDUCATION FOR WOMEN.