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Biomimetic Robots for Robust Operation in Unstructured Environments

Biomimetic Robots for Robust Operation in Unstructured Environments. M. Cutkosky and T. Kenny Stanford University R. Full and H. Kazerooni U.C. Berkeley R. Howe Harvard University R. Shadmehr Johns Hopkins University. http://cdr.stanford.edu/touch/biomimetics.

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Biomimetic Robots for Robust Operation in Unstructured Environments

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  1. Biomimetic Robots for Robust Operation in Unstructured Environments M. Cutkosky and T. KennyStanford University R. Full and H. KazerooniU.C. Berkeley R. HoweHarvard University R. Shadmehr Johns Hopkins University http://cdr.stanford.edu/touch/biomimetics Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

  2. Behold Behemoth ... His bones are tubes of bronze, his limbs like bars of iron. Job 40.18 Boadicea climbing a rock, by M. Binnard

  3. Main ideas: • Use novel layered prototypingmethods to create compliant biomimetic structures with embedded sensors and actuators (Cutkosky, Kenny, Full) • Develop biomimetic actuation and control schemes that exploit “preflexes” and reflexes for robust locomotion and manipulation (Kazerooni, Howe, Shadmehr, Cutkosky) Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

  4. Status(9.10.98) • “Building block” design/fabrication environment being tested and first components with embedded sensors, electronics fabricated • Meetings among SU, SRI, UCB to determine biomimetic actuators for fabrication and testing at each site • Designed and built apparatus for leg stiffness and perturbation experiments • <Howe?> • Experimental results on human adaptive control suggest a specific design for manipulation • Modeling and system I.D. have been applied to capture human walking on hills. The results have been used to develop two-legged machines. Comparison with biological models is underway. Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

  5. Topics for discussion and planning I. Mobility (*Full, Kazerooni, Howe) • Autonomous and cooperative • Lessons from insect and vertebrate biology II. Manipulation (*Howe, Shadmehr, Cutkosky) • In insects, in humans • Role of sensing, adaptation III. Learning and adaptation (*Shadmehr, Howe, Kazerooni) • Focus on adaptation for cooperative mobility, manipulation • Role of adaptation for robust autonomous robots IV. Fabrication & integration experiments (*Cutkosky, Full, Kenny) V. Sensing (*Kenny, Full, Howe, Cutkosky) VI. Actuation and control (*Cutkosky et al) *discussion leader Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

  6. Mobility Level of Interaction with Human Power Power&Information Information Collaborative Autonomous Unpowered Lower Extremity Enhancer Powered Lower Extremity Enhancer Powered Human Assisted Walker Mobile “insect” Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

  7. Mobility: Modeling insect locomotion dynamics A dynamic cockroach model, created in collaboration with the MIT Leg Lab, is stable when stiffness and damping feedback are added to the feed-forward joint torques (R. Full) Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

  8. Modeling human locomotion (Kazerooni) Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

  9. Adaptation in manipulation Experimental Framework for understanding how humans go about modulating impedance while interacting with an unstable system(Shadmehr, Kazerooni) Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

  10. Motor control, adaptation model (Shadmehr) Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

  11. Fabrication and joint experiments: concept for a biomimetic “Insect-Leg” A prototype design of the same leg employing three-dimensional plastic “exoskeleton” surrounding with embedded actuators, sensor and cooling system. Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

  12. Sensing: MicroStructures and Sensors Lab (MSSL) Kenny Research on Fundamental Properties and Applications of MEMS-based MicroMechanical Devices. • Micromechanical Sensors. • Micromechanical Elements for Scientific and Technological Collaboration Partners. • Devices and Instruments for Studies of Fundamental Properties of Micromechanical Structures. Collaborators : IBM, JPL, NRL, SNL, SAIC, Medtronic, Raychem, Lucas, Seagate, Perkin-Elmer... Students from :ME, EE, Appl Phys, A/A Piezoresistive Lateral Accelerometer 2-Axis AFM Cantilevers for Surface Friction Experiments and Thermomechanical Data Storage Flow Visualization in Microchannels Ultrathin Cantilevers for attoNewton Force Detection

  13. Actuation and control: Mechanics and muscle activation patterns (Full) Three-dimensional musculo-skeletal model of the leg of B. discoidalis constructed by Full’s lab. Simulations such as these help characterize the role of individual muscles in locomotion. Sept 9-10, 1998 MURI Kick-off meetings, Berkeley/Stanford, CA

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