Hardware and Locomotion

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Presentation transcript:

Hardware and Locomotion Adapted from David V Lu

Robot Hardware Actuators / Motors Sensors Computation/Communication Power

With Great Power Primary Hardware Concern Trade off: Batteries vs. Cords

With Great Power Primary Hardware Concern Trade off: Batteries vs. Cords

Batteries Heavy Hazardous: lead/acid technology Limited Life Span Swapping Batteries Recharging

Tethered Robots Effectively unlimited power (and communication) Very little weight Limits Range Limited Environments

Boston Dynamics Cheetah

Other Options Solar Internal Combustion

More Options Radioisotope Themoelectric Generator

Locomotion Wheels Legs Propellors/Wings Thrusters/Jets

Locomotion Concepts: Principles Found in Nature R. Siegwart

Locomotion Concepts Concepts found in nature difficult to imitate technically Most technical systems use wheels or caterpillars Rolling is most efficient, but not found in nature Nature never invented the wheel ! However, the movement of a walking biped is close to rolling On constate que la technologie dont nous disposons ne permet pas de reproduire des machines capables d'imiter ce que la nature à su créer. Cette dernière dispose d'outils comme la réplication cellulaire et la spécialisation qui lui permet de créer des structures complexes miniaturisées et fonctionelles. De plus le système de stockage d'énergie ainsi que les systèmes musculaires que l'on trouve dans la nature possèdent des caractéristiques de rendement qui sont nettement supérieures aux batteries et aux moteurs inventées par l'homme. Du à ces limitations techniques, la plupart des robots mobiles crées par l'homme utilisent des roues. Il est intéressant de constater que ce mécanisme de locomotion n'était jamais apparu dans la nature avant que l'homme ne le découvre et ne le fasse évoluer. On peut tout de même constater que la marche d'un bipède peut s'apparenter à un polygone qui roule. 2 - Locomotion

Biped Walking Biped walking mechanism not to fare from real rolling. rolling of a polygon with side length equal to the length of the step. the smaller the step gets, the more the polygon tends to a circle (wheel). However, fully rotating joint was not developed in nature. 2 - Locomotion

Walking or rolling? number of actuators structural complexity control expense energy efficient terrain (flat ground, soft ground, climbing..) movement of the involved masses walking / running includes up and down movement of COG some extra losses 2 - Locomotion

Stability Static Stability - can balance without being active Dynamic Stability - Needs active control to stay upright (stable when moving)

Stable Configurations Projection of the center of mass must fall within the support polygon

Mobile Robots with Wheels Wheels are the most appropriate solution for most applications Three wheels are sufficient to guarantee stability With more than three wheels an appropriate suspension is required Selection of wheels depends on the application 2 - Locomotion

Degrees of Freedom (DOF)

The Four Basic Wheels Types a) Standard wheel: Two degrees of freedom; rotation around the (motorized) wheel axle and the contact point b) Castor wheel: Three degrees of freedom; rotation around the wheel axle, the contact point and the castor axle 2 - Locomotion

The Four Basic Wheels Types c) Swedish wheel: Three degrees of freedom; rotation around the (motorized) wheel axle, around the rollers and around the contact point d) Ball or spherical wheel: Suspension technically not solved 2 - Locomotion

Ackerman Steering - Four Wheels Two Active Fixed Wheels in Back Two Passive Steerable Wheels in Front

Bike Steering - 2 Wheels One Active Fixed Wheel in Back One Passive Steerable Wheel in Front

Segway - 2 Wheels Two Active Wheels Center of Mass below Axle Cye Personal Robot Two Active Wheels Center of Mass below Axle

Differential Drive Equal Wheel Velocity Top Wheel Faster Forward Kinematics (more on this later)

Skid Steering - Four Wheels Four active fixed wheels

Two+One - Three Wheels Two Active Fixed Wheels in Back Point of Contact / Castered Wheel in front

Turtlebot Two Active Wheels One Caster Wheel One Passive Wheel

PR2 - Four Wheels Four steerable active wheels

Omniwheels Slide Laterally With Ease

Three Omniwheels

Swedish / Mecanum Wheels

The World is Flat!

Rocker Bogie - Six Wheels

Legs Can Deal with Rough Terrain Quality of Ground Matters Less Can Cross Holes Power Needs Mechanical Complexity More complex kinematics

Mobile Robots with legs (walking machines) The fewer legs the more complicated becomes locomotion Stability - at least three legs are required for static stability During walking some legs are lifted thus loosing stability? For static walking at least 6 legs are required babies have to learn for quite a while until they are able to stand or even walk on there two legs. 2 - Locomotion

Most Obvious Gaits with 4 legs free fly 2 - Locomotion Changeover Walking Galloping

Most Obvious Gait with 6 legs (static) 2 - Locomotion

Honda Asimo

Boston Dynamics Petman

4+ Legs

Spider Robot

Other Robot Mobility Sliding Crawling Fixed Wings Rotary Wings