Praktikum: 12 Snake-like robot realization

Transcription

1 Praktikum: 12 Snake-like robot realization Lecturers Lecturers Houxiang Houxiang Zhang Zhang Manfred Manfred Grove Institute TAMS s 1 Institute TAMS s 2 Acknowledgments Bioinspiration and Robotics: Walking and Climbing Robots Edited by: Maki K. Habib, Publisher: I-Tech Education and Publishing, Vienna, Austria, ISBN My colleague Juan Gonzalez-Gomez from the School Engineering, Universidad Autonoma de Madrid in Spain. Other great work and related information on the internet Reconfiguring_Modular_Robotics Institute TAMS s 3 Lecture material Modular Self-Reconfigurable Robot Systems: Challenges and Opportunities for the Future, by Yim, Shen, Salemi, Rus, Moll, Lipson, Klavins & Chirikjian, published in IEEE Robotics & Automation Magazine March Self-Reconfigurable Robot: Shape-Changing Cellular Robots Can Exceed Conventional Robot Flexibility, by Murata & Kurokawa, published in IEEE Robotics & Automation Magazine March Locomotion Principles 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots, by Juan Gonzalez-Gomez, Houxiang Zhang, Eduardo Boemo, One Chapter in Book "Bioinspiration and Robotics: Walking and Climbing Robots", 2007, pp Locomotion Capabilities a Modular Robot with Eight Pitch-Yaw-Connecting Modules, by Juan Gonzalez-Gomez, Houxiang Zhang, Eduardo Boemo, Jianwei Zhang: The 9th International Conference on Climbing and Walking Robots and their Supporting Technologies for Mobile Machines, CLAWAR 2006, Brussels, Belgium, September 12-14, pp , Institute TAMS s 4

2 Outline today s lecture Build a snake-like modular robot Realization different locomotion gaits Linear gait Turning gait Rolling gait Lateral shift Rotation 1D 1D Topology: Topology: Pitch-Pitch Locomotion Locomotion in in 1D: 1D: 8 pitch-connecting modules Locomotion Locomotion in in 2D: 2D: Pitch-Yaw-Pitch 8 pitch-yawconnecting modules 2D 2D Topology: Topology: Locomotion Locomotion in in 2D: 2D: Star 3 modules Institute TAMS s 5 Institute TAMS s 6 Outline today s lecture GZ-I with four connecting faces Build a snake-like modular robot Realization different locomotion gaits Linear gait Turning gait Rolling gait Lateral shift Rotation Institute TAMS s 7 Institute TAMS s 8

3 Your tasks Caterpillar-like minimal configurations Caterpillar with 4 to 8 modules Snake-like minimal configurations ( new question) Snake-like Your tasks Caterpillar-like minimal configurations Caterpillar with 4 to 8 modules Snake-like minimal configurations ( new question) Snake-like Institute TAMS s 9 Institute TAMS s 10 Outline today s lecture Build a snake-like modular robot Realization different locomotion gaits Linear gait Turning gait Rolling gait Lateral shift Rotation Locomotion controlling method The sinusoidal generators produce very smooth s and have the advantage making the controller much simpler. Our model is described by the following equation. 2π y i = Ai sin( t + φi ) + Oi T Where y i is the rotation angle the corresponding module; A i is the amplitude; T is the control period; t is time; Φ i is the phase; O i is the initial fset. Institute TAMS s 11 Institute TAMS s 12

4 Locomotion controlling method (cont ) Locomotion capabilities Linear gait Forward and backward Turning gait Turn left and right; or the robot moves along an arc Rolling gait The robot rolls around its body axis Lateral shift They are divided into horizontal and vertical groups, which are described as H i and V i respectively. Where i means the module number; ΔΦ V is the phase difference between two adjacent vertical modules; ΔΦ H is the phase difference between two adjacent horizontal modules; ΔΦ HV is the phase difference between two adjacent horizontal and vertical modules. Institute TAMS s 13 The robot moves parallel Rotation The robot rotates around its body axis Institute TAMS s 14 Locomotion capabilities-linear gait Locomotion capabilities-turning gait A V A H =0 = A V A H =0 = 0 0 ΔΦV = 120 ΔΦV = 120 Institute TAMS s 15 Institute TAMS s 16

5 Locomotion capabilities-rolling gait Locomotion capabilities-lateral shift A V A H A V A H ΔΦV ΔΦH ΔΦVH =9 0 ΔΦV=100 ΔΦH=100 ΔΦVH Institute TAMS s 17 Institute TAMS s 18 Locomotion capabilities-rotating gait Summary A V A H ΔΦV=120 ΔΦV=50 ΔΦVH Gate types Linear Turning Rolling Lateral Rotation Parameters for sinusoidal generators A Vi 0; A Hi =i =0 ΔΦ V = , i 0 A Hi, A Vi 0; i =i =0 ΔΦ V = , i =0 ΔΦ V =ΔΦ H =0, ΔΦ VH =90 ΔΦ V =ΔΦ H =100, ΔΦ VH =0 ΔΦ V =120, ΔΦ H =0, ΔΦ VH =50 Institute TAMS s 19 Institute TAMS s 20

6 Summary It is time for you now Institute TAMS s 21 Institute TAMS s Praktikum: 13 Open possibilities using GZ-I Lecturer Lecturer Houxiang Houxiang Zhang Zhang Manfred Manfred Grove Grove Thanks for your attention! Any Institute TAMS s 23 Institute TAMS s 24