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Yoshihiro NAKATA Intelligent Robotics Laboratory

The 28th Brush-up School of GCOE: Cognitive Neuroscience Robotics Feb. 17th , 2011. T OWARD R EALIZING H OPPING OF M ONOPEDAL R OBOT BY C OMPLIANCE C ONTROL --- Development and a pplication of an electromagnetic linear actuator ---. Yoshihiro NAKATA Intelligent Robotics Laboratory

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Yoshihiro NAKATA Intelligent Robotics Laboratory

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  1. The 28th Brush-up School of GCOE:Cognitive Neuroscience Robotics Feb. 17th , 2011 TOWARD REALIZING HOPPING OF MONOPEDAL ROBOTBY COMPLIANCE CONTROL--- Development and application of an electromagnetic linear actuator --- Yoshihiro NAKATA Intelligent Robotics Laboratory Dep. of Systems InnovationGraduate School of Engineering Science Osaka University

  2. Electromagnetic Linear Actuator for Artificial Muscle Introduction How can robot realize dynamical motion in complicated environment? Planer Biped Robot Athlete Robot Actuator is the key device: Low processing cost Impact absorption Robust for disturbance

  3. Electromagnetic Linear Actuator for Artificial Muscle Important factors of actuators for robots spring dumper actuator x • Large output force • Small size • ・Actuator • + Controller + Power source • Change spring and damper characteristics • Quick response It is difficult to realize variable viscoelastic characteristics in small system

  4. Electromagnetic Linear Actuator for Artificial Muscle Variable compliance actuator φ20 180mm Weight: 170g Force: 5.7N/A (Effective current 1A) Interaction with human • This actuator can change spring and damper characteristics • Quick response • Small system • ・Electric power

  5. Electromagnetic Linear Actuator for Artificial Muscle The electromagnetic linear actuator • Basic structure ・The effective radial component of flux with an inward and outward direction from the magnetic core ・The structure of the mover can generate high magnetic flux High power ・The mover is robust structure Stator Mover This actuator can control output force by controlling exciting current depending on the position of the mover.

  6. Electromagnetic Linear Actuator for Artificial Muscle Hopping of Monopedal Robot

  7. Electromagnetic Linear Actuator for Artificial Muscle Concept of the monopedal robot spring • Variable compliance actuator • Electromagnetic linear actuator • In this research, we focus on controlling stiffness • in hopping dumper actuator x • Implement the actuator as bi-articular muscle to the monopedal robot • Control the stiffness ellipse at foot of the robot • Simple control method is proposed

  8. Electromagnetic Linear Actuator for Artificial Muscle Structure of the human leg Hip Pelvis Hip Knee Femur Knee Tibia Patella Fibula Calcaneus

  9. Electromagnetic Linear Actuator for Artificial Muscle Stiffness ellipse • The stiffness of the leg is expressed as ellipse and its gradient of long axis Hip The major axis of the stiffness ellipse is oriented along the direction of maximum stiffness Knee Control the direction by adjusting axes Soft The minor axis of the stiffness ellipse is oriented along the direction of minimum stiffness Hard Stiffness ellipse

  10. Electromagnetic Linear Actuator for Artificial Muscle Relationship between stiffness ellipse and stiffness of muscles • The stiffness of f1e1 become large • The stiffness ellipse rotates in the clockwise direction • The foot move backupward and the robot leans forward Mono-articular muscle Hard Stiffness ellipse at foot

  11. Electromagnetic Linear Actuator for Artificial Muscle Relationship between stiffness ellipse and stiffness of muscles • The stiffness of f2e2 become large • The stiffness ellipse dose not rotate Mono-articular muscle Hard Stiffness ellipse at foot

  12. Electromagnetic Linear Actuator for Artificial Muscle Relationship between stiffness ellipse and stiffness of muscles • The stiffness of f3e3 become large • The stiffness ellipse rotates in the counter clockwise direction • The foot move foreupward and the robot leans backward Bi-articular muscle Hard Stiffness ellipse at foot

  13. Electromagnetic Linear Actuator for Artificial Muscle Control of the bouncing direction (Simulation) • Evaluate the relationship between bouncing direction and stiffness Hopping direction[°] Stiffness (f3, e3) [N/m] Stiffness (f1, e1) [N/m] Stiffness f3, e3> f1, e1 Stiffness f1, e1 > f3, e3

  14. Electromagnetic Linear Actuator for Artificial Muscle Monopedal robot with electromagnetic linear actuators Counter weight > Beam A2,1(M2) A3(M3) A2,2(M2) A1(M1) 210mm Hip Weight:1.2kg Knee We will do experiment using this robot. In the simulator, weight and inertia of monopedal robot are considered

  15. Electromagnetic Linear Actuator for Artificial Muscle Hopping of the robot (Simulation) Stiffness [N/m] km f1, e1 f3, e3 Take off Touch down f2, e2 kc Time[s] 130ms Control the bouncing direction: Distribute jumping energy: Actuator (f1, e1) = 500 [N/m] Actuator (f3, e3) = 340 [N/m] kc=310 [N/m] km=370 [N/m] Ground

  16. Electromagnetic Linear Actuator for Artificial Muscle Hopping of the robot (Simulation) • Hip position y y x x 0 • Return map

  17. Electromagnetic Linear Actuator for Artificial Muscle Conclusions • Development of the electromagnetic linear actuator as a variable compliance actuator • Stiffness ellipse is controllable • Variable stiffness reduces complexity of control rule • Experiment using the prototype • Control bouncing direction in hopping • Evaluate the effect of viscosity properties for • stable hopping Future works

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