PRESENTED BY,

NABEEL NK

C5

REG NO: CVANSCS032

INTRODUCTION

ANATOMIC DESIGN

BIO-INSPIRED CONTROL

NEURAL MECHANISM CONTROL

BIOMIMETIC DESIGN

CONTROL SYSTEM AND SENSORS

CONCLUSION

REFERENCES

Cheetah is the fastest four-legged animal in the world. Its speed around 112-120

km/h (70 and 75 mph) in short burst covering distance up to 450 meters. It has

the ability to accelerate from 0 to 103 km/h (64 mph) in three seconds.

Cheetah robot is the existence proof of high speed running in robotics. Its

provides lot of inspiration from its design.

Cheetah robot is developed using anatomical analysis and design of cheetah.

Cheetah robot`s prototype is designed and assembled with a pneumatic muscle.

anatomical and morphological imitation and optimization, a prototype of a

cheetah robot is designed toward ultra-high speed

The idea of adapting high-speed movement and fusing as many as biological

principles as possible for a running robot was the starting point for our

research.

Cheetah robot has the same joint arrangement as the cheetah.

Each leg has four joints, and each joint has one degree of freedom. This

arrangement of degrees of freedom is sufficient to adopt a bounding gait.

We built a musculoskeletal structure following that of the cheetah.

We took the scapula as a part of forelimb, eliminated the function of the wrist

joint, and defined a new articulation between the scapula and the thoracic cage,

namely the STC.

Some simulation add into the scapula functions of the fore limb structure. We

build two models

1.With scapula

2.Without scapula

The model with the scapula can ran 55% faster with a 15% longer stride

length than the model without the scapula.

Cheetah robot has no wrist.

The mechanical body of the robot weighted 52 kg, while with the power system

the robot weighted approximately 70 kg. And the cheetah weight is

approximately 60±6 kg.

An evolutionary nervous system to coordinated motion of the muscle groups. As

the nervous system is concerned with locomotion, we focused on the neural

mechanism controlling the muscles and the activation relationship among the

muscle groups.

We considered seven muscles in the model of the hind limb and forelimb.

Bounding gait of cheetah robot. It has four steps

1.Swing

2.Touch down

3.Stance

4.Lift-off

This four steps could be divided into two phase.

1.Stance-phase

2.Flight-phase

During the flight phase, the primary task is to avoid the ground and to select a

feasible touchdown angle. This means that the flight phase is a kinematic process.

stance phase is a typical dynamic process, during which the muscles need exert

significant power to hold the body and to drive the process of fast running.

Biomimetics or biomimicry is the imitation of the models, systems, and elements of

nature for the purpose of solving complex human problems.

musculoskeletal-type is applied here to actuate joint movement.

We chose the artificial pneumatic muscle Festo® Fluidic Muscle DMSP as the

actuator to construct the joint actuation

Flexor means the muscle involving in flexion.

Extensor means the muscle involving in extension .

J-type cushioning foot to absorb the impact force when landing. it has similar

functions and structures to the animal’s foot.

The cushioning foot was made of spring steel using bending techniques. It is spring

like foot.

It has three functional part.

1. A toe-it is arc shaped. Which help to contact the ground smoothly and

continuously.

2. A phalange, it is a steel plate. Which helps to give more stability when contact

the ground.

3. And a heal part. It can bend from position A to B at around 50°.

The leg controller is the host, which generates the running pattern and sends the

step transition command to the joint controllers.

The neural mechanism control method runs in the joint controller to control the

muscles’ activation.

The dsPIC - a MCU with a DSP engine - was adopted as the processor for the

control system (which completes controlling operation) and the signal collecting

and processing.

a strain-type force sensor was equipped on the spring-like foot.

The resistance strain gauge was pasted up on the lateral surface of heel to measure

the deformation. Through the calculation of the leg’s kinetics, we can obtain the

ground reaction force.

The pneumatic muscle was driven by a proportional pressure regulator.

The power source for the robot system is currently off-board - in future, the cheetah

robot will have an on-board power source consisting of a lithium battery and a high-

pressure carbon-dioxide ice tank.

https://www.youtube.com/watch?v=_luhn7TLfWU

https://www.youtube.com/watch?v=chPanW0QWhA

add this videos from the above links….

MIT designed a robot with similar morphological and anatomical characteristics to

the cheetah. Utilizing the muscle-like actuator,prismatic joints ,we proposed a bio

-inspired control method under the biological mechanism to control the leg’s

muscles.

Through the simulation, the control strategy exhibited three features:

1. The incorporation of more biological knowledge in the controller.

2. The removal of the direct coupling between the controllers for the forelimbs and

hindlimbs.and

3) The automatic generation of the robot bounding rhythmicity via interaction in the

multi-body dynamic system.

The present model of the cheetah robot did not consider the function of the spine,

which is important for high-speed running. Thus, we will add the spinal segment,

the head-neck segment and the tail segment step-by-step.

biomimetics.mit.edu/

www.youtube.com/watch?v=_luhn7TLfWU

www.google.com

www.wired.com/2015/05/watch-terrifying-cheetah-robot-jump-hurdles/

www.bostondynamics.com/robot_cheetah.html

meche.mit.edu/documents/sangbae_CV.pdf

adaptivemotion.org/AMAM2011/papers/s233.pdf