Passive-Based Walking Robot MARTIJN WISSE, GUILLAUME FELIKSDAL, JAN VAN FRANKENHUYZEN, AND BRIAN MOYER Robotics & Automation Magazine, IEEE, June 2007, Vol. 14, P Student ID ： M Student ： Chun-Ming Su Teacher ： Ming-Yuan Shieh PPT 製作： 100% 1

Outline ABSTRACT INTRODUCTION DESIGN AND CONTROL WALKING RESULTS CONCLUSIONS AND FUTURE RESEARCH 2

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. Abstract 3

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. 4

Introduction Passive walking 5

Design Process 6

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Design and Control Structure  The robot has five internal DoF  1.5 m tall  The knees have mechanical stops  McKibben muscles 8

Prototype dimensions in millimeters 9

Foot 10

Hip mechanism 11

McKibben Muscles  A McKibben muscle consists of a compliant tube (usually made of rubber) 12

Controller  The control program is a state machine with four states 13

 Programmed in assembly language on a microchip PIC16F877 microprocessor  The only sensors are the foot contact switches  Four binary valve 14

Walking Results Gait Characteristics  The experimental results are obtained from more than 150 steps from several trials 15

Note that the average forward velocity is 0.47 m/s Faster than many existing humanoid robots 16

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Conclusions and Future Research 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 18

It a promising lead for the development of commercially viable humanoid robots  Simplicity  Efficiency  The natural look of its motions 19

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 20

Thanks for your patience 21