Autonomous biped

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  • Autonomous Biped With Self Maneuvering AbilityProject Guide:Ms. Sujata DubalAsst. Professor Electronics Department

    Group Members:Nidhi Khetan (33)Prasad Dugad (15)Yash Sanghvi (48)

    03/27/10*

  • Contents

    1) Update Index03/27/10*

  • AbstractControlling a biped robot with a high degree of freedom to achieve stable and straight movement patterns is a complex problem The Kinematic Equations for the standard 7 DOF kinematic structure have been established, but the complex nature of the equation make it hard to controlIn this project we aim a design of a Partial Passive control of a 4-DOF biped that allows precise control without using complex equations

    1) Add reference number03/27/10*

  • IntroductionBipedal LocomotionThe technique of using legged mechanism instead of wheelsInspired from the Bipedal Trajectile motion of humans and similar creatures to develop such systems for specialized applicationBiped Implementation:Controlling Methods include: Passive Dynamic Walking Motion and Gait control both have their disadvantages

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  • Introduction(Contd)Partial Passive Control:Effective combination of Both Passive Dynamic Walking control and Gait control can allow convenient control.Active control is achieved whereas the number of motors to be controlled are reduced easier implementation.

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    1) If any diag or anything else to be added?

  • Problem Statement

    The Aim of the project is to implement a Bipedal Structure that can: Move using motor control to generate authentic bipedal motionDetect and avoid obstacles during locomotion capable of detecting left , right and centre obstacles

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  • Literature Survey

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    More summary.

  • Uses one leg actively controlled by motors and one uncontrolled leg acting as a strut - Reduces the structure to 4-DOF robotEquations are reduced to three 2x2 matrix equations - same can be verified by simple trigonometry:

    Principle Of Operation

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    Screenshot of the 5 motion frm matlab

  • Principle Of Operation

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    Equation and bitmap image

  • Block Diagram of Project

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  • FunctionsReceives the information from the sensor control board after it has detected an obstacle.Generates the PWM waves and transmits them to the motor control board.Microcontroller used is ATMEGA 16

    Component Description AVR Based Mother Board

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  • Sensor Control Board

    Functions The high precision IR receiver detects an IR signal The module consists of 358 comparator IC. The output of sensor is low whenever it receives IR frequency and high otherwise The power consumption of this module is low. It gives a digital output

    Component Description (Contd)

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    New ckt and explanantion

  • Servo MotorComponent Description (Contd)

  • Check Obstacle PresenceStartWait till zero point reference createdGet real time dataForwardMove right till no obstacle Check for Way out Move left till no obstacle RepeatYesNoNoneLeftCentreRightFlow Chart of the Project

    Replace flow chart 03/27/10*

  • Results and DiscussionAngle of the three motors for the 5 steps

    Ankle Motor AngleKnee Motor AngleThigh Motor AngleStep 1150140175Step 214095125Step 316580125Step 416580175Step 5165110175

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    1st slide- walking motion with graph(step) nd angle table and explain (verbally)2nd slide- obstacle detection and avoiding wid 3 graphs3rd slide- Biped in action.. 1st photo lable every part4th slide- pics of all 5 steps

  • Results and Discussion (Contd)Angle v/s Time graph for Forward motion

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    1st slide- walking motion with graph(step) nd angle table and explain (verbally)2nd slide- obstacle detection and avoiding wid 3 graphs3rd slide- Biped in action.. 1st photo lable every part4th slide- pics of all 5 steps

  • Results and Discussion (Contd)Angle v/s Time graph for Right motion (Left Obstacle)

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    1st slide- walking motion with graph(step) nd angle table and explain (verbally)2nd slide- obstacle detection and avoiding wid 3 graphs3rd slide- Biped in action.. 1st photo lable every part4th slide- pics of all 5 steps

  • Results and Discussion (Contd)Angle v/s Time graph for Left motion (Right Obstacle)

    03/27/10**

    1st slide- walking motion with graph(step) nd angle table and explain (verbally)2nd slide- obstacle detection and avoiding wid 3 graphs3rd slide- Biped in action.. 1st photo lable every part4th slide- pics of all 5 steps

  • Matlab Simulation of Biped Walking MotionResults and Discussion (Contd)

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    1st slide- walking motion with graph(step) nd angle table and explain (verbally)2nd slide- obstacle detection and avoiding wid 3 graphs3rd slide- Biped in action.. 1st photo lable every part4th slide- pics of all 5 steps

  • Biped Walking MotionResults and Discussion (Contd)

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    1st slide- walking motion with graph(step) nd angle table and explain (verbally)2nd slide- obstacle detection and avoiding wid 3 graphs3rd slide- Biped in action.. 1st photo lable every part4th slide- pics of all 5 steps

  • Obstacle DetectionResults and Discussion (Contd)

    03/27/10**

    1st slide- walking motion with graph(step) nd angle table and explain (verbally)2nd slide- obstacle detection and avoiding wid 3 graphs3rd slide- Biped in action.. 1st photo lable every part4th slide- pics of all 5 steps

  • Conclusion The aim of the project was to construct a prototype of an

    autonomous biped with additional features like obstacle detection systems and thus enabling it to be used for research and developmental purposes. Implementing these on a small scale prototype will make it

    easier to adapt to these add-ons in a larger model of the project. It also lead to better understanding of the different parts, their

    working with each other and the processes involved in addition of previously mentioned features.

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  • Advantage And DisadvantageAdvantagesAutonomy of actionSimple algorithm

    DisadvantagesMotion on rugged surfacesExternal IR inference due to other sources

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  • ApplicationThus we are trying to implement an autonomous biped which has following applications:Autonomous Manoeuvring of vehiclesObstacle Detection

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  • Future Scope

    Real life model can be implemented. The Wireless module (without adaptor) can be upgraded. Identification of the terrain and recognizing the nature of the

    environment in which the robot is supposed to move and it can be done with the help of camera (either single or double) system mounted on board or off shelf. Speed of calculation can be increased and the time to process

    can be reduced using a faster microcontroller.

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  • AcknowledgementThe timely completion of this report is mainly due to the interest and persuasion of Prof Sujata Dubal (A.P.) who provided us with guidance and motivation throughout its making. We also thank her for giving us an opportunity to create this project.We are also thankful to our HOD Poorva Waingankar and also our project cordinator Ms. Sonal Barvey for their guidance. Finally we would thank our college Thakur College of Engineering and Technology for providing us with a platform and the necessary facilties to make this project.

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  • Publications[1]. Prasad Dugad, Nidhi Khetan, Yash Sanghvi, Autonomous Biped A Review in Multicon-W 2014, ICWAC, ISBN 978-0-9884925- 4-7, Vol. 1 PP. 376-379, February 2014.

    03/27/10**

  • [1] Fumihiko Asano, Zhi-Wei Luo, and Masaki Yamakita,. Biped Gait Generation and Control Based on a Unified Property of Passive Dynamic Walking, IEEE Transactions On Robotics, VOL. 21, NO. 4, August 2005[2] Jong Hyeon Park, Member, IEEE, and Eung Seo Kim , Foot and Body Control of Biped Robots to Walk on Irregularly Protruded Uneven Surfaces, IEEE Transactions On Systems, Man, And CyberneticsPART CYBERNETICS, VOL. 39, NO. 1, February 2009 [3] Hyung-Kew Lee, Sun-Il Chang, and Euisik Yoon, Dual-Mode Capacitive Proximity Sensor for Robot Application: Implementation of Tactile and Proximity Sensing Capability on a Single Polymer Platform Using Shared Electrodes, IEEE Sensors Journal, VOL. 9, NO. 12, December 2009.[4] Nima Shafii1, Siavash Aslani1, Omid Mohamad Nezami1, Saeed Shiry2, Evolution of Biped Walking Using Truncated Fourier Series and Particle Swarm Optimization, Mechatronics Research Laboratoy (MRL), Department of Computer and Electerical Engineering, Qazvin Islamic Azad, April 2010.sing Sensor Fusion, Kalman Filter, and Fuzzy Logic, IEEE Transactions on Industrial Electronics, VOL. 59, NO. 11, November 2012.Reference

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    More summary.

  • Thank You

    Video

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    1) Update Index03/27/10*1) Add reference number03/27/10*03/27/10**

    03/27/10**

    1) If any diag or anything else to be added?

    03/27/10*03/27/10**

    More summary.03/27/10**

    Screenshot of the 5 motion frm matlab03/27/10**

    Equation and bitmap image03/27/10**

    03/27/10**

    03/27/10**

    New ckt and explanantionReplace flow chart 03/27/10*03/27/10**

    1st slide- walking motion with graph(step) nd angle table and explain (verbally)2nd slide- obstacle detection and avoiding wid 3 graphs3rd slide- Biped in action.. 1st photo lable every part4th slide- pics of all 5 steps03/27/10**

    1st slide- walking motion with graph(step) nd angle table and explain (verbally)2nd slide- obstacle detecti