Vermelding onderdeel organisatie 1 Recent Developments in Passive Dynamic Walking Robots Seminar May 13, 2005University of Nottingham, UK Laboratory for Engineering Mechanics Faculty of Mechanical Engineering Arend L. Schwab Google: Arend Schwab [I’m Feeling Lucky]
May 13, Acknowledgement TUdelft: Martijn Wisse Jan van Frankenhuyzen Richard van der Linde Frans van der Helm Jaap Meijaard … MSc students Cornell University: Andy Ruina Mariano Garcia Mike Coleman Insitu Group: Tad Mc Geer Collins, S., Ruina, A., Tedrake, R. and Wisse, M., ``Efficient Bipeal Robots Based on Passive-Dynamic Walkers’’, Science 307:
May 13, Contents Passive Dynamic Walkers Passive Dynamic Robots The Simplest Walker Cyclic Motion; Stability & Basin of Attraction Stability: Fore-Aft and Sideways Conclusions
May 13, Walking Robots -Anthropomorphic Design -Energy Efficient C t =(energy used)/(weight*distance)=0.2 Museon 2001 Mike 2002 Max 2003 Denise 2004 Stappo 1995 Bob 2000 Baps 2001
May 13, Passive Dynamic Walking Wire Walker by G. T. Fallis Patented in Wire Walker, Model 2002
May 13, Simplest Walking Model Scaling with: M, l and g and limit case: m/M -> 0 Leaves one free parameter:
May 13, Walking Motion Walking Motion in Phase Plane Cyclic Motion if
May 13, Family of Stable Cyclic Solutions Stability of Cyclic Motion Determined by Characteristic Multipliers | |<1 But How Stable?
May 13, Basin of Attraction of Cyclic Motion Cyclic Motion (Fixed Point) : Poincare Section with basin of Attraction and failure modes: -falling Forward -falling Backward -Running
May 13, Basin of Attraction (Cont’d) Basin of Attraction: askew & enlarged
May 13, A few steps into the Basin of Attraction x = Cyclic Motion 1 = Start
May 13, Effect of the Slope on the BOA
May 13, Simplest Walking Robot Simplest Walker (1999): 2D, straight legs and point feet walking down a shallow slope. (copy of the 1988 Tad McGeer walker)
May 13, Bob: a Bipedal Robot based on Simulations Bob (2000): 3D, Flat Feet, Knees and Ankle Actuation
May 13, Robot with Knees, Round Feet, and Actuation Mike (2002)
May 13, For-Aft Stability or How to Keep from Falling Forward Swing Leg Control: ’’You will never fall forward if you put your swing leg fast enough in front of your stance leg’’ Uncontrolled Swing Leg Control
May 13, Adding an Upper Body Max (2003) Bisecting Hip Mechanism
May 13, Adding an Upper Body Max 2003 On Level Ground Self-Starting
May 13, Going into 3D Sideway Stability by means of Lean-to-yaw Coupling As in a Skateboard: Velocity dependent Stability
May 13, Going into 3D Sideway Stability by means of Lean-to-yaw Coupling Or as in a Bicycle: Velocity dependent Stability
May 13, Going into 3D: Denise Bisecting Hip Mechanism Tilted Ankle Joint Lean-to-yaw Coupling Upper Body
May 13, Going into 3D: Denise
May 13, Conclusions Passive Dynamic Robots: -use less control and less energy -walk more naturally. -help understand human walking.