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REALIZATION OF STABLE BIPED WALKING ON PUBLIC ROAD WITH NEW BIPED FOOT SYSTEM ADAPTABLE TO UNEVEN TERRAIN 實現在室外道路用雙足穩定行走, 且適用於不平坦地形的新足部機構 學生 : 楊斯越 班級 :

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Presentation on theme: "REALIZATION OF STABLE BIPED WALKING ON PUBLIC ROAD WITH NEW BIPED FOOT SYSTEM ADAPTABLE TO UNEVEN TERRAIN 實現在室外道路用雙足穩定行走, 且適用於不平坦地形的新足部機構 學生 : 楊斯越 班級 :"— Presentation transcript:

1 REALIZATION OF STABLE BIPED WALKING ON PUBLIC ROAD WITH NEW BIPED FOOT SYSTEM ADAPTABLE TO UNEVEN TERRAIN 實現在室外道路用雙足穩定行走, 且適用於不平坦地形的新足部機構 學生 : 楊斯越 班級 : 碩研電機一甲 學號 :MA 指導教授 : 謝銘原

2 Outline Abstract ( 摘要 ) Introduction ( 簡介 ) Foot systen design ( 腳步機構設計 ) Experimental tests and consideration ( 實驗測試與思考 ) Conclusions and future work ( 結論與未來工作 ) References ( 參考文獻 )

3 Abstrac To date,many control methods have been researched on the assumption that the soles of a biped walking robot contact the ground as four points.It is difficult for almost all biped robots to maintain four point contact on uneven terrain because they have rigid and flat soles.It means that the biped robots can lose their balance.To solve this kind of problem, not only stability controls but also foot mechanisms should be studied.So,we developed a foot system,WS-1 that can maintain four point contact on uneven terrain, different from conventional foot systems.However,since WS-1 has some problems,an improved foot system,WS-1R is developed.Through hardware experiments, the effectiveness of WS-1R is confirmed.

4 Introduction Rigid and flat sole 支撐面

5 Introduction Proposed foot system

6 Foot system desing 長釘 腿 腳 解鎖鎖定 Operation principle of a new biped foot system

7 Foot systen design 長釘 凸輪 塊 隨動器 Cam-type locking mechanism

8 Foot systen design 長釘 Waseda Shoes – No.1

9 Waseda Shoes - No.1 微動開關 電磁閥 摩擦材料 Detailed drawing of locking mechanism WS-1

10 Problems of WS-1 and Solutions 拉伸彈簧 Arrangement of tension springs

11 Foot systen design 電磁閥 摩擦材料 腳踏開關 Detailed drawing of locking mechanism WS-1R 氯丁乙二烯橡膠

12 Foot systen design Waseda Shoes - No.1 Refined Photograph

13 Foot systen design Waseda Shoes - No.1 Refined Assembly drawing

14 Size200×294×65mm Weight ( 重量 ) 1850 g Movable Range on z axis ( 在 z 軸可動範圍 ) 20 mm Drive System of Actuator ( 驅動器系統 ) Push-pull Solenoid x4 ( 推拉電磁伐 ) Foot systen design WS-1R Specifications

15 Experimental tests and consideration WL-16RII mounted on WS-1R

16 Experimental tests and consideration Walking experiments on the 20mm board

17 Experimental tests and consideration WS-1R 沒有操作值 WS-1R 有操作值 參考值 ZMP trajectories along x axis on the 20mm board. The robot fell down at the X-marked-position.

18 Experimental tests and consideration 參考值 WS-1R 沒有操作值 WS-1R 有操作值 ZMP trajectories along y axis on the 20mm board. The robot fell down at the X-marked-position.

19 Experimental tests and consideration Walking experiments on uneven surface

20 Experimental tests and consideration ZMP trajectories on uneven surface

21 Experimental tests and consideration Walking experiment on the public road in Fukuoka Special Zones for Robot Development and Test

22 Experimental tests and consideration ZMP trajectories along x axis on an uneven surface.The robot fell down at the X-marked-position. 硬的平底鞋 WS-1R 與操作 參考

23 Experimental tests and consideration ZMP trajectories along y axis on an uneven surface.The robot fell down at the X-marked-position.

24 Conclusions and future work We have proposed a new foot system, WS-1R, which can maintain four point contact on a real uneven terrain. Various experiments using WL-16RII mounted on WS-1R were conducted on uneven terrain.First, forward walking was realized on the plastic board of 20 mm.Second, it was confirmed that WS-1R is also effective on an inclined plane with a height of 20 mm or less.Third, walking experiments are achieved on the public road in the Fukuoka Special Zones for Robot Development and Test.The effectiveness of this foot system was confirmed through experiments.Our next goal is to combine this new foot system with a stability control method and conduct further walking experiments on a bumpier terrain and in real environments such as in homes or streets. Moreover, to realize a multipurpose bipedal locomotor sufficient for practical use, we will also continue to study more intelligent walking control methods that are able to adapt to various environments.

25 References A.Takanishi, T.Takeya, H.Karaki, M.Kumeta, and I.Kato, “A Control Method for Dynamic Walking under Unknown External Force,” Proc of the IEEE/RSJ IROS 1990, pp , Tsuchiura, Japan, July, S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, “The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation,” Proc. of the IEEE IROS 2001, pp , Maui, Hawaii, USA, November, Y. Okumura, T. Tawara, K. Endo, T. Furuta, and M. Shimizu, “Realtime ZMP Compensation for Biped Walking Robot using Adaptive Inertia Force Control,” Proc. of the IEEE/RSJ IROS 2003, pp , Las Vegas, USA, October, Y. Sugahara, T. Hosobata, Y. Mikuriya, H.O. Lim and A. Takanishi,“Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control,”Proc. of the IEEE/RSJ IROS 2003, pp , Las Vegas, USA,October, S. Kagami, et al., “Online 3D Vision, Motion Planning and Bipedal Locomotion Control Coupling System of Humanoid Robot : H7,” Proc.of the IEEE/RSJ IROS 2002, pp , Lausanne, Switzerland,October, K. Nishiwaki, S. Kagami, J. Kuffner, M. Inaba, and H. Inoue,“Humanoid ‘JSK-H7’: Reserch Platform for Autonomous Behavior and Whole Body Motion,” Proc. of the Third IARP International Workshop on Humanoid and Human Friendly Robotics, pp. 2-9,Tsukuba, Japan, December, J. Yamaguchi, A. Takanishi, and I. Kato, “Experimental Development of a Foot Mechanism with Shock Absorbing Material for Acquisition of Landing Surface Position Information and Stabilization of Dynamic Biped Walking,” Proc. of the IEEE ICRA 1995, pp ,Nagoya, Aichi, Japan, May, 1995.

26 References K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, “The Development of Honda Humanoid Robot,” Proc. of the IEEE ICRA 1998, pp , Leuven, Belgium, May, M. Hirose, Y. Haikawa, T. Takenaka, and K. Hirai, “Development of Humanoid Robot ASIMO,” Proc. of the IEEE/RSJ IROS 2001,Workshop2, Maui, Hawaii, USA, S. Kajita, K. Yokoi, M. Saigo, and K. Tanie, “Balancing a Humanoid Robot Using Backdrive Concerned Torque Control and Direct Angular Momentum Feedback,” Proc. of the IEEE ICRA 2001, pp ,Seoul, Korea, May, K. Kaneko, et al., “Design of Advanced Leg Module for Humanoid Robotics Project of METI,” Proc. of the IEEE ICRA 2002, pp ,Washington, DC, USA, May, M. Ogata, and S. Hirose, “Study on Ankle Mechanism for Walking Robots –Development of 2 D.O.F. Coupled Drive Ankle Mechanism with Wide Motion Range-,” Proc. of the IEEE/RSJ IROS 2004, pp , Sendai, Japan, Y. Sugahara, T. Endo, H. O. Lim and A. Takanishi, “Design of a Battery-powered Multi-purpose Bipedal Locomotor with Parallel Mechanism,” Proc. of the IEEE/RSJ IROS 2002, pp ,Lausanne, Switzerland, October, 2002.

27 References Y. Sugahara, T. Endo, H. O. Lim and A. Takanishi, “Control and Experiments of a Multi-purpose Bipedal Locomotor with Parallel Mechanism,” Proc. of the IEEE ICRA 2003, pp , Taipei,Taiwan, September, Y. Sugahara, et al., “Realization of Dynamic Human-Carrying Walking by a Biped Locomotor,” Proc. of the IEEE ICRA 2004, pp , New Orleans, USA, April, K. Hashimoto, et al., “Development of Foot System of Biped Walking Robot Capable of Maintaning Four-point Contact,” Proc. of the IEEE/RSJ IROS 2005, pp , Edmonton, Canada, August,2005.


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