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Biped Robots: Dr. Ashish Dutta

The document discusses biped robots and legged locomotion. It covers early attempts at mobile robots using wheels and the advantages of using legs instead, such as walking over obstacles and maintaining body height. Legged locomotion requires balancing either statically or dynamically. The control of a single-legged hopping robot is divided into controlling forward speed, body attitude, and hopping height using a finite state machine and gain-based feedback control. The number and positioning of legs, leg shape, length, and use of tails for balancing are also discussed. Gait patterns involving duty factor and phase differences provide static or dynamic whole-body balancing.

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58 views28 pages

Biped Robots: Dr. Ashish Dutta

The document discusses biped robots and legged locomotion. It covers early attempts at mobile robots using wheels and the advantages of using legs instead, such as walking over obstacles and maintaining body height. Legged locomotion requires balancing either statically or dynamically. The control of a single-legged hopping robot is divided into controlling forward speed, body attitude, and hopping height using a finite state machine and gain-based feedback control. The number and positioning of legs, leg shape, length, and use of tails for balancing are also discussed. Gait patterns involving duty factor and phase differences provide static or dynamic whole-body balancing.

Uploaded by

ujjwal kumar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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BIPED

ROBOTS

Dr. Ashish Dutta

Dept. of Mechanical Engineering, IIT KANPUR


INDIA
Locomotion
 Locomotion: Moving from one point to another

 Early robots were mainly stationary arms

 Need to increase the work space of the arms by


mounting the arms on mobile robots or legs.

 First attempts were made on wheeled robots then


legs
WHEELED ROBOTS
 Early mobile robots were all wheeled robots

 Wheeled robots do not need balancing

 Wheels require less energy for motion

 Wheeled robots may be ‘holonomic’ or


‘nonholonomic’
Types of mobile robots
 Non-holonomic systems : all the degrees of freedom are
not independent. E.g. cars that can move and turn only at
a fixed angle.

 Holonomic systems: all the degrees of freedom are


independent, e.g. cars that can move in any direction ,even
sideways.
Macnum wheels
Motion in any direction
Wheels
wheels
Biology prefers legs
 All biological entities have either legs, wings, tails , etc.
for locomotion

 Legs require more energy but are multi functional

 Recent interest in legged locomotion : technically


feasible
Advantages of legs
 Walk over obstacles

 Less footprint

 Body can be maintained at the same height

 Can perform different functions : climbing stairs,


sitting down, etc.
Balance : Static or Dynamic
A typical control system:
 Finite state machine:
 Small number of states (2-10)
 Types of transitions:
 Timed – after fixed amount of time.
 Sensor-based – after certain event has happened.

12
A typical control system:
 Example FSM (running for one-legged robot):

13
First Approach:
 [Raibert83], MIT - 3D one-legged hopping robot.
 The control system is divided into three independent
parts:
 Control of the forward speed.
 Control of the body attitude.
 Control of the hopping height.

14
One-legged hopper

 4 DOF:
 1 for length of the leg.
 3 for the joint.
 Only 2 DOF in 2D.
 Modeled as spring and inverted
pendulum.

 Video

15
Animation of Dynamic Legged
Locomotion

 5 states.
 Can be simplified to:
 Support phase.
 Flight phase.
 All the transitions are
event-driven.

16
Animation of Dynamic Legged
Locomotion

 Controlling forward velocity: we can only influence step length, i.e.


the next footstep.
 Neutral point – the velocity is preserved.
 Step before the neutral point – increased velocity. (after–decreased).
 xfh – forward displacement of the foot.
 ts – duration of the support period.
 q – the angle of the leg at touchdown.
 kx’ – gain, determined experimentally.

17
Animation of Dynamic Legged
Locomotion

 Controlling body attitude:


 Estimate the torque at the hip, given:
 Desired angle – fd.
 Current angle – f.
 Use PD control:
 t – hip torque.
 kf , bf – gains.

18
Animation of Dynamic Legged
Locomotion

 Controlling hopping height:


 Depends on the force exerted by the leg.
 The leg is modeled as spring with adjustable
rest length (Ld).
 Ld – rest length – can be modified to
control the hop height.
 kL, bL – gains, again experimentally.

19
Number of legs and its position
Shape of legs
Relative length of legs
Balancing
Tail based for balancing
GAIT : static balance Vs dynamic balance

 Pattern of foot placement


Creep gait

Duty factor and phase for time T


Dynamic Gait

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