Transcript Robot Control - MGNet

By
Chun-Lung Lim
Jay Hatcher
Clay Harris
Humanoid Robotic Hardware
• Biped Humanoid Robot Group - Kato/Takanishi
Laboratory & Waseda University
• WABIAN-2 - (WAseda BIpedal humANiod-No.2)
• Artificial Muscle Begins to Breathe
• Sensor Networks for Humanoids (Repliee Q2)
WL-1 (Waseda Leg Series)
• The artificial lowerlimb WL-1 was
constructed on the
basis of a human’s
leg mechanism in
1967
• Investigation of the
fundamental functions
of biped locomotion
WL-3
• Constructed with
electro-hydraulic
servo-actuator in
1969
• Achieved a humanlike motion in a swing
phase and a stance
phase, and a standing
and sitting motion
WL-5
• Eleven mechanical
degrees of freedom;
two x five DOF legs
and one DOF trunk
• could change the
direction by using a
program control
(1971)
WABOT-1
• the world’s first full-scale
anthropomorphic robot
• Could communicate with a
human in Japanese
• Measure the distances
and directions of objects
using external receptors
such as artificial ears and
eyes
• Hydraulically powered, it
uses disproportionately
large feet for stability
• realized “static walking” in
1973
WL-9DR
• achieved quasidynamic walking
• used a 16-bit
microcomputer as its
controller
• ten mechanical
degrees of freedom
WL-10R
• constructed by the
rotary type servoactuators and carbonfiber reinforced plastic
in 1983
• achieved forward and
backward walking,
turning on the plane
WL-10RD
• achieved a complete
dynamic walking on
the plane with the
step time of 1.3 s/step
• dynamic walking on
uneven terrain such
stairs and inclined
planes was realized
with a step time of 2.5
s/step
WL-12
• hydraulic biped
having an upper body
and a two-degrees-offreedom waist (1986)
• dynamic biped
walking was realized
under external forces
of unknown
environments and on
unknown walking
surfaces
WL-12RDIII
• walked in unknown
paths, and stairs in a
human residential
environment
• Also used trunk
motion for balance
and for compensating
moment generated by
leg movement
WABIAN (WAseda BIpedal humANoid)
• Dynamic forward and
backward walking
• Collaborative work
with humans
• Dancing
• Carrying a Load
• Emotional Walking
• Total of 35 DOF
WABIAN-2
• Total of 41 DOF
• Height: 153 cm
• Weight:
– 64.5 kg w/Ni-H batteries
– 60.0 kg without
•
•
•
•
6-axis Force Sensors
Photo Sensor
DC Servo Motors
On Board Computer
WABIAN-2 Control System
Human Like Walking with 6 vs. 7
DOF
WABIAN
WABIAN-2
In case of conventional leg mechanism (6-DOF), predetermination of foot's
position and orientation will decide each joint angle. However, humans have
the ability to move their knees even if the position and orientation of foot are
predetermined due to the redundant DOF. Therefore, by having a 7-DOF
robotic leg instead of 6-DOF robotic leg, the robot will have the same ability as
humans to walk smoothly.
Waist Movement
• 2-DOF (Roll, Yaw) in the
waist enables more
human-like walking
motions. This new
mechanism has an
advantage which allows
the robot to walk with
knee stretched position
due to the independent
orientation of trunk
movement.
Movement Examples
• Moving knees with feet on the floor
• Upper body movement
• Moving arms and legs with feet and hands
fixed
• Conventional walking
• Stretch walking
• Walking assisted
Artificial Muscle Begins to Breathe
Continuously shorted fuel-cell muscle based on a NiTi shape-memory alloy
Published by AAAS
V. H. Ebron et al., Science 311, 1580 -1583 (2006)
Main Advantages
• high–energy-density fuels (hydrogen,
methanol, or formic acid) may be used
resulting in much longer operating times
• Honda’s humanoid, ASIMO, only lasts 45
minutes on its batteries
• WABIAN 2 only lasts around 30 minutes
• Lightweight compared to Servo Motors
and Batteries
Omnidirectional Sensor
The panoramic cylinder is a periodic function along the x-axis
Image based localization based
on omnidirectional images
Power Spectrum of
the image at right
Associate the magnitude of the Fourier transform with the
appearance of the environment from a particular place
Directional Determination with
Omnidirectional Images
• The phase of the Fourier transform is
associated to the heading of the robot
• Magnitude of the Fourier transform does
not change when the robot is turning and
the appearance doesn’t change
• The phase of the Fourier transform
changes and is proportional to the change
in the heading of the robot
Sensor Network for Robots
Conclusions
• Significant advances in technology has
enabled lifelike humanoids (Repliee Q2)
• Coming advances will result in frequent
encounters with humanoids
• Humanoid development will help in the
construction of better prosthetics and
rehabilitation techniques
• Improved robotic suits lead to supermen!