1 / 34

Design of a controller for sitting of infants

Design of a controller for sitting of infants. Semester Project July 5, 2007. Supervised by: Ludovic Righetti Prof. Auke J. Ijspeert. Presented by: Neha P. Garg. Introduction & Motivation. Dynamical System. Content. Observations. Further Work. Hand Made Trajectory. Conclusions.

eleanor-rowe
Download Presentation

Design of a controller for sitting of infants

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Design of a controller for sitting of infants Semester Project July 5, 2007 Supervised by: Ludovic Righetti Prof. Auke J. Ijspeert Presented by: Neha P. Garg

  2. Introduction & Motivation • Dynamical System Content • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Introduction & Motivation • Observations • Hand Made trajectory • Analysis of trajectory • Dynamical System • Further Work • Conclusions

  3. Introduction & Motivation • Dynamical System RobotCub Project • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Aim: study cognitive abilities of a child How: by building a 2 year old infant-like humanoid robot ICUB

  4. Introduction & Motivation • Dynamical System Need for Locomotion • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Cognitive Development Explore Environment Locomotion

  5. Introduction & Motivation • Dynamical System Real Infants • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Two main phases of sitting • Bringing of one leg forward • Movement of arm to sit on hip

  6. Introduction & Motivation • Dynamical System Demonstration • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Video of hand-made trajectory

  7. Introduction & Motivation • Dynamical System Main Characteristics • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Torso Movement Leg Movement First Phase Complete Second Phase Start Arm Movement Sitting Critical Phase

  8. Introduction & Motivation • Dynamical System The Trajectory • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  9. Introduction & Motivation • Dynamical System Robustness • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Checked in only critical period • Variation of the points specified for DOFs that effect critical period • Trajectory is quiet robust

  10. Point 6 Point 7 • Introduction & Motivation • Dynamical System Robustness • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Right Arm

  11. Point 6 Point 7 • Introduction & Motivation • Dynamical System Robustness • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Torso

  12. Point 3 Point 4 • Introduction & Motivation • Dynamical System Robustness • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Right Leg

  13. Introduction & Motivation • Dynamical System Center of Mass • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Can information about projection of CM during sitting can be used to classify transitions as good or bad? • Defining stability measure as integration of distance of center of mass from support polygon with time during sitting

  14. Introduction & Motivation • Dynamical System Center of Mass • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  15. Introduction & Motivation • Dynamical System Torso Speed • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Can we predict sitting/falling before critical period ?

  16. Introduction & Motivation • Dynamical System Observations from analysis • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Clear division of sitting in two phases • Robot unstable in the second phase • Robustness more important than stability • Some amount of instability required for sitting • Torso speed cannot be used to predict sitting/falling

  17. Introduction & Motivation • Dynamical System Two Main Tasks • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Switching from crawling to sitting • Designing mathematical equations for sitting trajectories

  18. Introduction & Motivation • Dynamical System Switching from crawling to sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • When an external signal S is given, robot should switch from crawling to sitting • This can be done by:

  19. Introduction & Motivation • Dynamical System Switching from crawling to sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • This may cause abrupt shift from crawling to sitting • Switching should occur only when while crawling hip and shoulder joints are moving in the same direction as they will move after shifting • For this we replace S by

  20. Introduction & Motivation • Dynamical System Switching from crawling to sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  21. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • For all of the trajectories except Left Leg (Abduc /Adduc and Rotation) the following equation can be used: Where parameter P decides when the system should start and when the system starts it goes towards can also be changed if required

  22. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • For example: for torso pitch P = 1 = Where S1 becomes 1 when second phase starts And is calculated as:

  23. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • For example: for left knee

  24. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • For Left Leg (Abduc/Adduc and Rotation), the movement has to be synchronized with left knee

  25. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  26. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  27. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  28. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  29. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  30. Introduction & Motivation • Dynamical System Demonstration • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Crawling and Sitting using Dynamical System

  31. Introduction & Motivation • Dynamical System Further Work • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Addition of sensory feedback while sitting Robot Falling • Collection of biological data to know whether the movements while sitting are controlled by brain or spinal cord • Development of controller for transition from sitting to crawling • Increase in the limit up to which hip joint can be extended

  32. Introduction & Motivation • Dynamical System Conclusions • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Main characteristics of sitting behavior of infants and the period of instability have been identified • A controller for sitting of the robot in the same way as infants has been implemented • Sensory feedback can be easily integrated by modifying values of parameter (P) according to sensory input • Robot can be switched from crawling to sitting by providing an external signal

  33. Introduction & Motivation • Dynamical System • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Thanks a lot! Questions?

  34. Introduction & Motivation • Dynamical System References • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory [1] G. Sandini, G. Metta, and D. Vernon, “Robotcub: an open framework for research in embodied cognition,” 2004, paper presented at the IEEE RAS/RJS International Conference on Humanoid Robotics, Santa Monica, CA. [2] L. Righetti and A.J. Ijspeert. “Design methodologies for central pattern generators: an application to crawling humanoids”, Proceedings of Robotics: Science and Systems 2006, Philadelphia, USA [3] Michel, O. “Webots:Professional Mobile Robot Simulation.”Int. J. of Advances Robotic Systems, 2004, pages:39-42,vol.1 [4] G. Metta, G. Sandini, D. Vernon, D. Caldwell, N. Tsagarakis, R. Beira, J. Santos-Victor, A. Ijspeert, L. Righetti, G. Cappiello, G. Stellin, F. and Becchi. “The RobotCub project - an open framework for research in embodied cognition”, Humanoids Workshop, Proceedings of the IEEE -RAS International Conference on Humanoid Robots, December 2005 [5] MATLAB Function pchip: Fritsch, F. N. and R. E. Carlson, "Monotone Piecewise Cubic Interpolation," SIAM J. Numerical Analysis, Vol. 17, 1980, pp.238-246

More Related