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Recent Developments in Passive Dynamic Walking Robots

Recent Developments in Passive Dynamic Walking Robots. Seminar. Arend L. Schwab Google: Arend Schwab [I’m Feeling Lucky]. May 13, 2005 University of Nottingham, UK. Laboratory for Engineering Mechanics Faculty of Mechanical Engineering. Acknowledgement. Cornell University: Andy Ruina

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Recent Developments in Passive Dynamic Walking Robots

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  1. Recent Developments in Passive Dynamic Walking Robots Seminar Arend L. Schwab Google: Arend Schwab [I’m Feeling Lucky] May 13, 2005 University of Nottingham, UK Laboratory for Engineering MechanicsFaculty of Mechanical Engineering

  2. Acknowledgement Cornell University: Andy Ruina Mariano Garcia Mike Coleman Insitu Group: Tad Mc Geer TUdelft: Martijn Wisse Jan van Frankenhuyzen Richard van der Linde Frans van der Helm Jaap Meijaard … MSc students Collins, S., Ruina, A., Tedrake, R. and Wisse, M., 2005. ``Efficient Bipeal Robots Based on Passive-Dynamic Walkers’’, Science 307: 1082-1085

  3. Contents • Passive Dynamic Walkers • Passive Dynamic Robots • The Simplest Walker • Cyclic Motion; Stability & Basin of Attraction • Stability: Fore-Aft and Sideways • Conclusions

  4. Walking Robots -Anthropomorphic Design -Energy Efficient Ct=(energy used)/(weight*distance)=0.2 Stappo 1995 Bob 2000 Baps 2001 Museon 2001 Mike 2002 Max 2003 Denise 2004

  5. Passive Dynamic Walking Wire Walker by G. T. Fallis Patented in 1888. Wire Walker, Model 2002

  6. Simplest Walking Model Scaling with: M, l and g and limit case: m/M -> 0 Leaves one free parameter: g

  7. Walking Motion Walking Motion in Phase Plane Cyclic Motion if

  8. Family of Stable Cyclic Solutions Stability of Cyclic Motion Determined by Characteristic Multipliers |l|<1 But How Stable?

  9. Basin of Attraction of Cyclic Motion Poincare Section with basin of Attraction and failure modes: -falling Forward -falling Backward -Running Cyclic Motion (Fixed Point) :

  10. Basin of Attraction (Cont’d) Basin of Attraction: askew & enlarged

  11. A few steps into the Basin of Attraction x = Cyclic Motion 1 = Start

  12. Effect of the Slope on the BOA

  13. Simplest Walking Robot Simplest Walker (1999): 2D, straight legs and point feetwalking down a shallow slope.(copy of the 1988 Tad McGeer walker)

  14. Bob: a Bipedal Robot based on Simulations Bob (2000): 3D, Flat Feet, Knees and Ankle Actuation

  15. Robot with Knees, Round Feet, and Actuation Mike (2002)

  16. For-Aft Stability or How to Keep from Falling Forward Swing Leg Control: ’’You will never fall forward if you put your swing leg fast enough in front of your stance leg’’ Uncontrolled Swing Leg Control

  17. Adding an Upper Body Max (2003) Bisecting Hip Mechanism

  18. Adding an Upper Body Max 2003 On Level Ground Self-Starting

  19. Going into 3D Sideway Stability by means of Lean-to-yaw Coupling As in a Skateboard: Velocity dependent Stability

  20. Going into 3D Sideway Stability by means of Lean-to-yaw Coupling Or as in a Bicycle: Velocity dependent Stability

  21. Going into 3D: Denise Lean-to-yaw Coupling Upper Body Tilted Ankle Joint Bisecting Hip Mechanism

  22. Going into 3D: Denise

  23. Conclusions Passive Dynamic Robots: • use less control and less energy • walk more naturally. • help understand human walking.

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