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MEDM Package For Walking Robot

MEDM Package For Walking Robot. General Outline. Organized for any multi-legged robot Hexapod, Quadruped, Biped, … Explicit Dynamic Calculation Gait Planning New algorithm for rhythmic gait Trajectory Planning Optimal trajectory subject to maximum speed

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MEDM Package For Walking Robot

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  1. MEDM Package For Walking Robot

  2. General Outline • Organized for any multi-legged robot Hexapod, Quadruped, Biped, … • Explicit Dynamic Calculation • Gait Planning New algorithm for rhythmic gait • Trajectory Planning Optimal trajectory subject to maximum speed respected to stable motion • Graphical interface Graphical gait showing

  3. Over 2500 lines code • Organized simply to coordinate for any • Walking Robot • Compliance structure added • Linked to Simmechanic toolbox • Optimized trajectory added

  4. Over 2500 lines code • Minimum possible required codes added • All modules writing as function for providence

  5. Organized for any walking robot • Simply coordinating for a arbitrary walking robot structure: • Add how many legs with arbitrary configuration • Replaced “D-H” recipes with new one “Direct Configuration” • as become more user-friendly.

  6. Dynamic Kinematic • Install coordinate frames • Method Install coordinate frames Method • Based on Lagrangian • formulation: Algorithm Dynamic Explicit Dynamic • Explicit Dynamic formulation:

  7. Install frame

  8. Kinematic FormulaDirect output to LaTeX

  9. Explicit Dynamic Input Output Kinematic

  10. Trajectory Planning • Minimum slippage possibility • Force distribution method • Quadratic Programming • Nimbly walking • Maximum Speed respected to stable and non-slipping motion

  11. Stability • MHS (Measure height of system) • ZMP (Zero moment point) • FML (Force moment line)

  12. MHS Criterion

  13. Graphical Gate Planning

  14. Linked to Simmechanic

  15. Conclusion • MDEM suitable for: • modeling compliant walker robots • Checked new stability criterions • Implemented new algorithm controls • Implemented online stability controls

  16. The End MEDM Package • Type: Package • Version: 1.5.0v • Product name: MEDM • Date modified: 12/01/2009

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