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Biomimetic Robots for Robust Operation in Unstructured Environments

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Presentation on theme: "Biomimetic Robots for Robust Operation in Unstructured Environments"— Presentation transcript:

1 Biomimetic Robots for Robust Operation in Unstructured Environments
M. Cutkosky and T. Kenny Stanford University R. Full and H. Kazerooni U.C. Berkeley R. Howe Harvard University R. Shadmehr Johns Hopkins University 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

2 Behold Behemoth ... His bones are tubes of bronze, his limbs like bars of iron.
Job 40.18 Boadicea climbing a rock, by M. Binnard 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

3 Main ideas: Use novel layered prototyping methods to create compliant biomimetic structures with embedded sensors and actuators (Cutkosky, Kenny, Full) Develop biomimetic actuation and control schemes that exploit “preflexes” and reflexes for robust locomotion and manipulation (Kazerooni, Howe, Shadmehr, Cutkosky) 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

4 Status (5.15.98) Almost under contract...
Preliminary experiments with embedded sensors and actuators conducted Surveying actuators and actuation technologies suitable for embedding in a layered manufacturing process Conducting preliminary investigations of composing robots from libraries of elements 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

5 Building small robot legs with pre-fabricated components is difficult...
Motor Leg links Shaft Shaft coupling Boadicea leg Electric motor/link 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

6 Concept design for a biomimetic “Insect-Leg”
A prototype design of the same leg employing three-dimensional plastic “exoskeleton” surrounding with embedded actuators, sensor and cooling system. 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

7 Modeling insect locomotion dynamics
A dynamic cockroach model, created in collaboration with the MIT Leg Lab, is stable when stiffness and damping feedback are added to the feed-forward joint torques (R. Full) 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

8 Mechanics and muscle activation patterns (R. Full)
Three-dimensional musculo-skeletal model of the leg of B. discoidalis constructed by Full’s lab. Simulations such as these help characterize the role of individual muscles in locomotion. 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

9 Motor control and adaptation
Experimental Framework for understanding how humans go about modulating impedance while interacting with an unstable system (Shadmehr, Kazerooni) 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

10 Motor control, adapation model
R. Shadmehr 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

11 Shape Deposition Manufacturing (SU/CMU)
5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

12 SDM allows finished parts to be inserted at any point in the cycle
Green link and red bearings are added as finished components 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

13 SDM capabilities Slides and web pages of parts that would be difficult or impossible to create using conventional manufacturing methods Topology that would be almost impossible with conventional machining tilted frame (CMU/Stanford) Integrated assembly of polymers with embedded electronics and interconnects (CMU Frog Man) other example parts from RPL at Stanford 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

14 Frogman (CMU) Example of polymer component with embedded electronics using shape deposition manufacturing 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

15 MicroStructures and Sensors Lab (MSSL)
Kenny Research on Fundamental Properties and Applications of MEMS-based MicroMechanical Devices. Micromechanical Sensors. Micromechanical Elements for Scientific and Technological Collaboration Partners. Devices and Instruments for Studies of Fundamental Properties of Micromechanical Structures. Collaborators : IBM, JPL, NRL, SNL, SAIC, Medtronic, Raychem, Lucas, Seagate, Perkin-Elmer... Students from :ME, EE, Appl Phys, A/A Piezoresistive Lateral Accelerometer 2-Axis AFM Cantilevers for Surface Friction Experiments and Thermomechanical Data Storage The MicroStructures and Sensors Lab is headed by the Design Division’s newest faculty member, Prof. Tom Kenny. Tom brings his background in applied physics and his experience at JPL to bear on the development and characterization of sensors produced using MEMS technology. Examples include precision accelerometers using tunneling electron current, force transducers and thermal sensors. Tom collaborates with Prof. Ken Goodson (TSD) on projects involving microscale fluid and heat transfer. Other collaborations involve the Center for Integrated Systems (EE) and the Applied Physics group at Stanford. Flow Visualization in Microchannels Ultrathin Cantilevers for attoNewton Force Detection

16 Embedded SMA actuators
Intial experiments with epoxy and urethane polymers and various sacrificial support materials have underscored the need to build in disposable fixtures for proper alignment. Shape Memory Alloy wire with water cooling channels Epoxy acrylic 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

17 Embedded sensors Test specimen built from layers of clear acrylic with embedded pressure transducers. For testing part mechanical properties and possible “cross talk” as part is subjected to loading stresses. 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

18 Approaches to design with layered shape manufacturing
Usually people think of taking a finished CAD model and submitting it for decomposition and manufacture Example: the slider-crank mechanism, an “integrated assembly” built by SDM 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

19 SDM process planning: geometric decomposition for tool access
build direction Cross section of part material (gray) in support material 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

20 Decomposition into ‘compacts” and layers
Several levels of decomposition are required Complete Part Compacts Layers Tool Path 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

21 Testing for compactness
Z There exists no point, p, on S which is an inflection point with an undercut surface above an upward-facing surface. 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

22 Layers produced by automatic decomposer for slider crank mechanism
Gray = steel, brown = copper support material 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

23 Layered shape deposition - potential manufacturing problems
finite thickness of support material poor finish on un-machined surfaces warping and internal stresses 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

24 Slider crank can be built entirely from two kinds of primitives
Yellow = part material, blue = support material 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

25 Merge algorithm for compacts (Binnard)
f (a,b ) 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

26 Truth tables for Boolean operations on compact lists
P = part material S = support material c = f (a,b) 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

27 Building Designs from Primitives
Here is the result of building slider-crank from primitives allows manufacturability analysis at design time 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

28 Building a robot joint from a library of shapes
Primitives + Merging Rules The Final Geometry What the Designer works with SFF Object made up of Part and Support Compacts What gets sent to the Manufacturing Service 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

29 Design for a prototype pneumatic knee joint built from primitives (M
Design for a prototype pneumatic knee joint built from primitives (M. Binnard) Magnetic Gear Tooth Sensor Pneumatic Actuator Link 1 Link 2 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

30 Comparison with VLSI approach
SFF-MEMS VLSI Decomposed Features Boxes, Circles, Polygons and Wires SFF-MEMS Design Rules Mead-Conway Design Rules Minimum gap/rib thickness d Dd (top view) a) Generalized 3D gap/rib d(a1,a2) (side view) b) l 2l Wc/l >= 2 Minimum feature thickness d(m1,m2,m3) (side view) e) m1 m2 m3 d(m1,m2,m3,a1,a2) 5/17/98 1998 PI MEETING FOR LEGGED LOCOMOTION AND MUSCLE-LIKE ACTUATORS

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