Legged Locomotion€¦ · Legged Locomotion Overview . ENAE 788X - Planetary Surface Robotics. U N...

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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics U N I V E R S I T Y O F MARYLAND Legged Locomotion • Quick perspective on motors and gearing • Overview of interim design reports • Static stability of legged locomotions • Static walking robots • Dynamic walking • Legged locomotion in space flight 1

Transcript of Legged Locomotion€¦ · Legged Locomotion Overview . ENAE 788X - Planetary Surface Robotics. U N...

  • Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics

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    Legged Locomotion• Quick perspective on motors and gearing• Overview of interim design reports• Static stability of legged locomotions• Static walking robots• Dynamic walking• Legged locomotion in space flight

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    Chariot Wheel Suspension (JSC)

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    Chariot Gearing System (JSC)

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    Good Things Seen in Design Review• Name/acronym for rover• Explicit discussion of lunar vs. Earth rover• Trades on wheel diameter/width• Trades on 4 vs. 6 wheels• Wheel design details• Static and quasi-static stability• Power budgeting and battery requirements• Slope and turning stability analysis• Systems engineering (e.g., requirements, WBS)

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    Things I’d like to see, but didn’t (yet)• Structure detail• Mass estimates (falling within limit with margin)• Center of gravity• Detailed overall CAD• Suspension dynamics• Alternative seat placement options• “Baseball card” single-slide summary• Complete crew systems design (e.g., ingress/

    egress aids, restraints, controls, displays)• Innovation?

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    Things I’d Prefer Not to See• 3D plots for monotonic functions• Plots with unlabeled trend lines• Fonts too small to be read• Misspelled/misused “Ackermann”• Misspelled words in general

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    Beyond the Scope…• Umbilical handling is part of the BioBot package,

    which is payload, not rover – you need to allocate deck space to BioBot package and crew seat(s) and interfaces

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    Legged Stability• Define the support region as the convex

    polyhedron formed by supporting leg tips (“feet”)• System is statically stable if gravitational force

    vector from CG passes through stability region

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    Wave Gait

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    Wave Gait

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    Wave Gait

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    Wave Gait

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    RHex - A Simple “Walking” Robot (CMU)

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    RHEX Video

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    Frame-Walkers• Two fixed sets of legs creating fixed stability

    regions• Legs move past each other and keep CG in stable

    region• Can steer by rotating frames with respect to each

    other

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    Dante II Repelling Robot (CMU)

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    AMBLER Characteristics

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    AMBLER Walking Gait

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    AMBLER Mechanisms

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    AMBLER Maintaining Even Orientation

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    Rappelling Robots - Free-Body Diagram

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    Leg Arrangement for Rappelling

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    LEMUR (JPL)

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    LEMUR Leg Mechanism

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    LEMUR II

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    LEMUR II Walking Gait (Unstable)

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    LEMUR II Walking Gait (stable)

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    Leg-Wheel Hybrid System (MEL)

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    SPIDER Prototype (JSC)

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    SPIDER (JSC)

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    SPIDER Leg Articulation

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    Honda P2 and P3

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    Walking Truck (GM - 1968)

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    ATHLETE (JPL)

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    ATHLETE in Action

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    ATHLETE With Larger Legs

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    Desert RATS 2008 - Moses Lake, WA

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    Dynamic Stability for Legged Robots• Uses reaction forces on ground to maintain

    orientation• Similar to trotting and running gaits for animals

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    Hopping Robot Concept (Marc Raibert)

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    Hopping Robot Motion Visualization

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    2D Hopping Robot (Marc Raibert)

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    Spring Flamingo (MIT)

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    Quadruped Robot (Mark Raibert)

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    Big Dog (Boston Dynamics)

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    ATLAS (Boston Dynamics)

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    DARPA Robotics Challenge Fails

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    DARPA Robotics Challenge Clips

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    Next-Generation ATLAS Clips

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    Parcour Atlas (Boston Dynamic)

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    Valkerie (NASA JSC)

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    Valkyrie Overview Video

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    Robonaut 2 on ISS

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    Robonaut 2 Legs

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    Project M (NASA JSC)

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    Robonaut in Space: The Vision

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    Robonaut in Space: the Reality

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