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Seminar

Seminar. Reading:- Intuitive Control of a Planar Biped Walking Robot Jerry Pratt and Gill Pratt. Introduction. How is walking stabilised in “Intuitive Control” ? What is Virtual Model Control ? What is the “virtual toe point” ?. Intuitive Control.

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Seminar

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  1. Seminar Reading:- Intuitive Control of a Planar Biped Walking Robot Jerry Pratt and Gill Pratt

  2. Introduction • How is walking stabilised in “Intuitive Control” ? • What is Virtual Model Control ? • What is the “virtual toe point” ?

  3. Intuitive Control • What is the main criticism of “intuitive controllers” • How can automatic learning techniques be used for “intuitive controllers” and what are the benefits of doing so ?

  4. Control Strategies • Discuss how height is stabilised in a biped. • Discuss how pitch is stabilised in a biped. • Discuss how speed is stabilised in a biped. • Discuss how the swing leg placement is controlled in a biped. • Discuss how the the support leg transitions are controlled in a biped

  5. Biped Kinematics • What does it mean to say that the “virtual toe point” is a commanded quantity, not a measured one ? • Derive the forward kinematic map from frame {A} to frame {B} • Derive the Jacobian ABJ.

  6. Implementing Virtual Actuators • What will be the joint torques (t,a,k,h) required to produce a force of (fx, fz, f) on the robot at point B ? • Given that the joint torque t is zero derive a constraint equation for (fx, fz, f). • Derive the relationship between the remaining joint torques (a,k,h) and the virtual force applied to B for (fz, f).

  7. Biped Control • The calculation of the virtual force does not include any terms for the robot mass and angular moments of inertia. How would you stop the robot falling ?

  8. Dual Leg Implementation • How can the joint torque problem be solved in the double support phase ? • Are there any ways that this control can be improved ?

  9. Spring Flamingo Implementation • What constrains the spring flamingo robot to be a 2D biped ? • How do the series elastic actuators work ? • What are the advantages and disadvantages of having the motors in the body and using cable drives to power the joints ?

  10. Experimental Results • Discuss the robustness properties of the spring flamingo robot and the walking control algorithm ? • How would the algorithms be extended for a 3D biped robot system ?

  11. Simulation Constructions Set • Examine the Spring Flamingo and m2 simulations using the Yobotics Simulation Construction Set. (evaluation version available from www.Yobotics.com) • Discuss the merits and problems of developing controllers in simulation and then transferring them to real robot systems ?

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