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:
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
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.
Introduction Rigid and flat sole 支撐面
Introduction Proposed foot system
Foot system desing 長釘 腿 腳 解鎖鎖定 Operation principle of a new biped foot system
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
Experimental tests and consideration WL-16RII mounted on WS-1R
Experimental tests and consideration Walking experiments on the 20mm board
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.
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.
Experimental tests and consideration Walking experiments on uneven surface
Experimental tests and consideration ZMP trajectories on uneven surface
Experimental tests and consideration Walking experiment on the public road in Fukuoka Special Zones for Robot Development and Test
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
Experimental tests and consideration ZMP trajectories along y axis on an uneven surface.The robot fell down at the X-marked-position.
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.
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