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R U S S I A N S T A T E S C I N T I F I C C E N T R E C E N T R A L R E S E A R C H A N D D E S I G N I N S T I T U T E O F R O B O T I C S A N D T E C.

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Presentation on theme: "R U S S I A N S T A T E S C I N T I F I C C E N T R E C E N T R A L R E S E A R C H A N D D E S I G N I N S T I T U T E O F R O B O T I C S A N D T E C."— Presentation transcript:

1 R U S S I A N S T A T E S C I N T I F I C C E N T R E C E N T R A L R E S E A R C H A N D D E S I G N I N S T I T U T E O F R O B O T I C S A N D T E C H N I C A L C Y B E R N E T I C S 5 th APRIL 2006 Oleg Shmakov CRDI RTC DEPARTMENT OF SPbSPU Joint Advanced Student School 2006 Saint Petersburg Course 5: Mechatronics – Foundations and Applications

2 Introduction Why snakelike robots? Biomechanics of snakes Review Mechanic model of snakelike robots Mathematical model of snakelike robots Hardware realization control Snakelike robot CRDI RTC Conclusion Oleg A. ShmakovSnakelike robots locomotions control

3 Why snakelike robots? Advantages Stability Terrainability is the ability of a vehicle to traverse rough terrain Traction is the force that can be applied to propel a vehicle Redundant Simple anatomy Oleg A. ShmakovSnakelike robots locomotions control

4 Why snakelike robots? Applications Search and Rescue Examination blockages after earthquake Planet’s exploration Medical applications Examination hard-to-reach areas Tube inspection Bio Terrorist Remote sampling Military inspection …

5 Biomechanics of snakes Vertebrate Oleg A. ShmakovSnakelike robots locomotions control Real snakes have vertebrae Snake vertebral articulation is one of the most complex of all vertebrates.

6 Biomechanics of snakes Locomotion modes Lateral undulation Sidewinding Propulsion (with creeping) Concertina Rectilinear movement Oleg A. ShmakovSnakelike robots locomotions control

7 Review Design snakelike robots Oleg A. ShmakovSnakelike robots locomotions control Non-modularModular WITH WHEELSWITHOUT WHEELS

8 Review Hirose & Umetami - SERPENOID Oleg A. ShmakovSnakelike robots locomotions control the waveform that the snake assumes during creeping movement is a curve which changes sinusoidally along the curvature of the body, and a formula for this, called a serpenoid curve.

9 Review Hirose & Umetami – ACM III Active Cord Mechanisms – ACM Wheeled robots Robots that could perform lateral undulation Oleg A. ShmakovSnakelike robots locomotions control Hirose’s development of modeling and control first derived expressions of force and power as functions of distance and torque along the curve described by the snake. Comparisons with natural snakes across constant friction surfaces showed close agreement between the serpenoid curve and the empirical data. Snakes quickly adapt locally to variations in terrain and environment. The control took the form of angle commands at each joint

10 Review Hirose & Umetami – ACM R3 Oleg A. ShmakovSnakelike robots locomotions control

11 Review Carnegie Mellon University – Kevin Dowling Oleg A. ShmakovSnakelike robots locomotions control

12 Review Carnegie Mellon University – Biorobotics Lab Oleg A. ShmakovSnakelike robots locomotions control

13 Mechanic model of snakelike robots Dobroluybov A.I. Oleg A. ShmakovSnakelike robots locomotions control Dobroluybov A.I. «genetic relationship» wheels and waves and Snakes are using rolling motion ” Some points of a moving body or set of bodies during movement should vary periodically roles: mobile points become motionless and on the contrary. On character of this procedure of locomotion can be divided into two big classes: pacing when reference points of a body only during some moments of time pass from motionless in a mobile condition and back, and rolling when these transitions are carried out continuously. Snakes can move by pacing and rolling. Carry of points of a support of the essences, moving in the way rolling, can be various.

14 Mechanic model of snakelike robots Ivanov A.A. Oleg A. ShmakovSnakelike robots locomotions control

15 Mechanic model of snakelike robots Ivanov A.A. Oleg A. ShmakovSnakelike robots locomotions control Lateral bending Rectilinear movement curving (without creeping) Side winding Concertina Shank movement Propulsion (with creeping)

16 Mathematical model of snakelike robots How to control? Random Search Hill climbing Simulated Annealing Neural Nets Response Surface Methods Genetic Algorithms Trigonometric forms Fourier Parametric curves Bayesian optimization algorithms Oleg A. ShmakovSnakelike robots locomotions control DOWLING CONRO TANEV CMU – Biorobotics Lab

17 Genetic algorithms for locomotions control Oleg A. ShmakovSnakelike robots locomotions control CategoryValue Function set{sin, cos, +, -, *, /} Terminal set{time, segment_ID, Pi, random constant, ADF} Population size200 individuals SelectionBinary tournament, ratio 0.1 ElitismBest 4 individuals MutationRandom subtree mutation, ratio 0.01 FitnessVelocity of simulated Snakebot during the trial Trial interval 180 time steps, each time step account for 50ms of “real” time Termination criterion (Fitness >100) or (Generations>30) or (no improvement of fitness for 16 generations) Fitness convergence characteristics of 10 independent runs of GP for cases where fitness is measured as velocity in any direction (a) and snapshots of sample evolved best-ofrun sidewinding locomotion gaits of simulated Snakebot (b, c), viewed from above. The dark trailing circles depict the trajectory of the center of the mass of Snakebot. Timestamp interval between each of these circles is fixed and it is the same (10 time steps) for both snapshots. Trajectory of the central segment (cs) around the center of mass (cm) of Snakebot for a sample evolved best-of-run sidewinding locomotion (a) and traces of ground contacts (b).

18 The determined approach of Ivanov A.A. Oleg A. ShmakovSnakelike robots locomotions control

19 Hardware realization control Oleg A. ShmakovSnakelike robots locomotions control С0С0 С1С1 С2С RS232 Microcontrollers

20 Hardware realization control Oleg A. ShmakovSnakelike robots locomotions control microcontroller DC motors Feedback from sensing Control & power SensorsPower supply MAIN Microcontroller For all joints (CMU)

21 Snakelike robot CRDI RTC Oleg A. ShmakovSnakelike robots locomotions control Total mass3 kg Length1120 mm Width65 mm Maximal course torque0,3 Nm Maximal pitch torque1,2 Nm Number of the links16 Number of the joints15 Number of the servos30 Voltage4,8 – 6 V

22 System of snakelike robot control “SnakeWheel -1” Coding - MAX 232 Power supply servo PC Camera Power supply Microcontrollers 6 volt volt USB 1.1 RS232 Oleg A. ShmakovSnakelike robots locomotions control

23 Structural control scheme AAF1 1 CS byte 63 byte* Oleg A. ShmakovSnakelike robots locomotions control

24 Low level control 1 channel2 channel1 channel t, мс 10 мс 20 мс 0,91,52,1 f send ≤ 50 Гц t φ T 20 – 40 main points f send = 30 – 60 Гц f base = 1,5 Гц T ≥ 2/3 f send ≤ 50 Гц 60°/0,11 с Oleg A. ShmakovSnakelike robots locomotions control

25 Software scheme Entering parameters Send Visualization Bloc Of Protection Blok Changing movement Bloc Camera control Forming RS-232 Oleg A. ShmakovSnakelike robots locomotions control

26 Software – snake-charmer Oleg A. ShmakovSnakelike robots locomotions control

27 EXPERIMENT Lateral bending Amplitude corner by course 35 Amplitude corner by pitch18 Quantity link which are using in course wave 8 4 Phase0 SPEED (max) (cm/sec)2.5 SPEED (min) (cm/sec)1 Oleg A. ShmakovSnakelike robots locomotions control

28 EXPERIMENT Lateral bending Oleg A. ShmakovSnakelike robots locomotions control

29 EXPERIMENT Side winding Amplitude corner by course 35 Amplitude corner by pitch20 Quantity link which are using in course wave 8 8 Phaseπ/2 SPEED (max) (cm/sec)4,3 SPEED (min) (cm/sec)3 Oleg A. ShmakovSnakelike robots locomotions control

30 EXPERIMENT Side winding Oleg A. ShmakovSnakelike robots locomotions control

31 EXPERIMENT Motion on the given curve Oleg A. ShmakovSnakelike robots locomotions control

32 EXPERIMENT Motion on the given curve Oleg A. ShmakovSnakelike robots locomotions control

33 Conclusion Oleg A. ShmakovSnakelike robots locomotions control

34 ? Thank you for your attention Oleg A. ShmakovSnakelike robots locomotions control


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