Realization of Stable Biped Walking on Public Road with New PowerPoint Presentation, PPT - DocSlides

Realization of Stable Biped Walking on Public Road with New PowerPoint Presentation, PPT - DocSlides

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實現在室外. 道路用雙足穩定行走. ,. 且適用於不平坦地形的新足部機構. 學生. :. . 楊斯. 越. 班級. :. 碩研電機一甲. 學號. :MA320111. 指導教授. :. 謝銘原. ID: 571828

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Presentations text content in Realization of Stable Biped Walking on Public Road with New

Slide1

Realization of Stable Biped Walking on Public Road with New Biped Foot System Adaptable to Uneven Terrain實現在室外道路用雙足穩定行走,且適用於不平坦地形的新足部機構

學生

:

楊斯

班級

:

碩研電機一甲

學號

:MA320111

指導教授

:

謝銘原

Slide2

Outline

Abstract

(

摘要

)

Introduction

(

簡介

)

Foot

systen

design

(

腳步機構設計

)

Experimental tests and consideration

(

實驗測試與思考

)

Conclusions and future work

(

結論與未來工作

)

References

(

參考文獻

)

Slide3

Abstrac

To

date,many

control methods have been researched on the assumption that the soles of a biped walking robot contact the ground as four

points.It

is difficult for almost all biped robots to maintain

four

point

contact

on

uneven terrain

because they have rigid and flat

soles.It

means that the biped robots can lose their

balance.To

solve this kind of problem, not only stability controls but also foot mechanisms should be

studied.So,we

developed a foot

system,WS-1 that

can maintain

four

point

contact

on uneven terrain, different

from

conventional

foot

systems.However,since

WS-1 has some

problems,an

improved foot

system,WS-1R is

developed.Through

hardware

experiments,

the

effectiveness of WS-1R

is confirmed

.

Slide4

Introduction

Rigid and flat sole

支撐面

Slide5

Introduction

Proposed foot system

Slide6

Foot system desing

長釘

解鎖

鎖定

Operation principle of a new biped foot system

Slide7

Foot systen design

長釘

凸輪

隨動器

Cam-type locking mechanism

Slide8

Foot systen design

長釘

Waseda

Shoes – No.1

Slide9

Waseda Shoes - No.1

微動

開關

電磁閥

摩擦材料

Detailed drawing of locking

mechanism WS-1

Slide10

Problems of WS-1 and Solutions

拉伸彈簧

Arrangement of tension springs

Slide11

Foot systen design

電磁閥

摩擦

材料

腳踏開關

Detailed drawing of locking mechanism WS-1R

氯丁乙二烯橡膠

Slide12

Foot systen design

Waseda

Shoes - No.1 Refined Photograph

Slide13

Foot systen design

Waseda

Shoes - No.1 Refined

Assembly drawing

Slide14

Size200×294×65mmWeight(重量)1850 gMovable Range on z axis (在z軸可動範圍)20 mm Drive System of Actuator (驅動器系統)Push-pull Solenoid x4 (推拉電磁伐)

Foot systen design

WS-1R Specifications

Slide15

Experimental tests and consideration

WL-16RII mounted on WS-1R

Slide16

Experimental tests and consideration

Walking experiments on the 20mm board

Slide17

Experimental tests and consideration

WS-1R

沒有操作值

WS-1R有操作值

參考值

ZMP trajectories along x axis on the

20mm board. The robot

fell down at

the X-marked-position

.

Slide18

Experimental tests and consideration

參考值

WS-1R

沒有操作值

WS-1R有操作值

ZMP trajectories along y axis on the 20mm board. The robot fell down at the X-marked-position.

Slide19

Experimental tests and consideration

Walking experiments on uneven surface

Slide20

Experimental tests and consideration

ZMP trajectories on uneven surface

Slide21

Experimental tests and consideration

Walking experiment on the public road in Fukuoka Special Zones for Robot Development and Test

Slide22

Experimental tests and consideration

ZMP trajectories along x axis on an uneven

surface.The robot fell down at the X-marked-position.

硬的平底鞋

WS-1R

操作

參考

Slide23

Experimental tests and consideration

ZMP trajectories along y axis on an uneven

surface.The

robot

fell down at the

X-marked-position

.

Slide24

Conclusions and future work

We have proposed a new foot system, WS-1R, which

can maintain four

point

contact

on a real uneven terrain.

Various experiments

using WL-16RII mounted on WS-1R

were conducted

on uneven

terrain.First

, forward walking

was realized

on the plastic board of 20

mm.Second

, it

was confirmed

that WS-1R is also effective on an inclined

plane with

a height of 20 mm or

less.Third

, walking

experiments are

achieved on the public road in the Fukuoka

Special Zones

for Robot Development and

Test.The

effectiveness

of this

foot system was confirmed

through

experiments.Our

next goal is to combine this new foot system with

a stability

control method and conduct further

walking experiments

on a bumpier terrain and in real

environments such

as in homes or streets. Moreover, to realize a

multipurpose bipedal

locomotor

sufficient

for

practical

use, we

will also

continue to study more intelligent

walking

control methods

that are able to adapt to various environments.

Slide25

References

A.Takanishi

,

T.Takeya

,

H.Karaki

,

M.Kumeta

, and

I.Kato

, “A Control Method for Dynamic Walking under Unknown External Force,”

Proc

of the IEEE/RSJ IROS 1990, pp.795-801,

Tsuchiura

, Japan, July, 1990.

S.

Kajita

, F.

Kanehiro

, K. Kaneko, K. Yokoi, and H.

Hirukawa

, “The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation,” Proc. of the IEEE IROS 2001, pp. 239-246, Maui, Hawaii, USA, November, 2001.

Y. Okumura, T.

Tawara

, K. Endo, T.

Furuta

, and M. Shimizu, “

Realtime

ZMP Compensation for Biped Walking Robot using Adaptive Inertia Force Control,” Proc. of the IEEE/RSJ IROS 2003, pp.

335-339, Las Vegas, USA, October, 2003.

Y

.

Sugahara

, T.

Hosobata

, Y.

Mikuriya

, H.O. Lim and A.

Takanishi

,“

Realization of Stable Dynamic Walking by a Parallel

Bipedal

Locomotor

on Uneven Terrain Using a Virtual Compliance Control

,”

Proc

. of the IEEE/RSJ IROS 2003, pp. 595-600, Las Vegas,

USA,October

, 2003.

S.

Kagami

, et al., “Online 3D Vision, Motion Planning and

Bipedal Locomotion

Control Coupling System of Humanoid Robot : H7,”

Proc.of

the IEEE/RSJ IROS 2002, pp. 2557-2562, Lausanne,

Switzerland,October

, 2002

.

K

.

Nishiwaki

, S.

Kagami

, J.

Kuffner

, M.

Inaba

, and H.

Inoue

,“

Humanoid

‘JSK-H7’:

Reserch

Platform for Autonomous

Behavior and

Whole Body Motion,” Proc. of the Third IARP

International Workshop

on Humanoid and Human Friendly Robotics, pp.

2-9,Tsukuba

, Japan, December, 2002.

J

. Yamaguchi, A.

Takanishi

, and I. Kato, “Experimental

Development of

a Foot Mechanism with Shock Absorbing Material for

Acquisition of

Landing Surface Position Information and Stabilization of

Dynamic Biped

Walking,” Proc. of the IEEE ICRA 1995, pp.

2892-2899,Nagoya

, Aichi, Japan, May, 1995.

Slide26

References

K. Hirai, M. Hirose, Y.

Haikawa

, and T.

Takenaka

, “The

Development of

Honda Humanoid Robot,” Proc. of the IEEE ICRA 1998, pp.

1321-1326

, Leuven, Belgium, May, 1998.

M

. Hirose, Y.

Haikawa

, T.

Takenaka

, and K. Hirai, “Development

of Humanoid

Robot ASIMO,” Proc. of the IEEE/RSJ IROS

2001,Workshop2

, Maui, Hawaii, USA, 2001.

S

.

Kajita

, K. Yokoi, M.

Saigo

, and K.

Tanie

, “Balancing a

Humanoid Robot

Using

Backdrive

Concerned Torque Control and Direct

Angular Momentum

Feedback,” Proc. of the IEEE ICRA 2001, pp.

3376-3382,Seoul

, Korea, May, 2001

.

K

. Kaneko, et al., “Design of Advanced Leg Module for

Humanoid Robotics

Project of METI,” Proc. of the IEEE ICRA 2002, pp.

38-45,Washington

, DC, USA, May, 2002.

M

. Ogata, and S. Hirose, “Study on Ankle Mechanism for

Walking Robots

–Development of 2 D.O.F. Coupled Drive Ankle

Mechanism with

Wide Motion Range-,” Proc. of the IEEE/RSJ IROS 2004,

pp.3201-3206

, Sendai, Japan, 2004.

http

://www.solidworks.com/pages/products/cosmos/cosmosworks.html.

Y

.

Sugahara

, T. Endo, H. O. Lim and A.

Takanishi

, “Design of

a Battery-powered

Multi-purpose Bipedal

Locomotor

with

Parallel Mechanism

,” Proc. of the IEEE/RSJ IROS 2002, pp.

2658-2663,Lausanne

, Switzerland, October, 2002

.

Slide27

References

Y

.

Sugahara

, T. Endo, H. O. Lim and A.

Takanishi

, “Control and Experiments of a Multi-purpose Bipedal

Locomotor

with Parallel Mechanism,” Proc. of the IEEE ICRA 2003, pp. 4342-4347,

Taipei,Taiwan

, September, 2003.

Y

.

Sugahara

, et al., “Realization of Dynamic Human-Carrying Walking by a Biped

Locomotor

,” Proc. of the IEEE ICRA 2004, pp.3055-3060, New Orleans, USA, April, 2004.

K

. Hashimoto, et al., “Development of Foot System of Biped Walking Robot Capable of

Maintaning

Four-point Contact,” Proc. of the

IEEE/RSJ IROS 2005, pp. 1464-1469, Edmonton, Canada, August,

2005

.


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