DOC PREVIEW
UI ECE 591 - SunSpiral

This preview shows page 1-2-16-17-18-33-34 out of 34 pages.

Save
View full document
View full document
Premium Document
Do you want full access? Go Premium and unlock all 34 pages.
Access to all documents
Download any document
Ad free experience
View full document
Premium Document
Do you want full access? Go Premium and unlock all 34 pages.
Access to all documents
Download any document
Ad free experience
View full document
Premium Document
Do you want full access? Go Premium and unlock all 34 pages.
Access to all documents
Download any document
Ad free experience
View full document
Premium Document
Do you want full access? Go Premium and unlock all 34 pages.
Access to all documents
Download any document
Ad free experience
View full document
Premium Document
Do you want full access? Go Premium and unlock all 34 pages.
Access to all documents
Download any document
Ad free experience
View full document
Premium Document
Do you want full access? Go Premium and unlock all 34 pages.
Access to all documents
Download any document
Ad free experience
View full document
Premium Document
Do you want full access? Go Premium and unlock all 34 pages.
Access to all documents
Download any document
Ad free experience
Premium Document
Do you want full access? Go Premium and unlock all 34 pages.
Access to all documents
Download any document
Ad free experience

Unformatted text preview:

Athletic Walking Vytas SunSpiral, CMU/NASA AmesSlide 2Athlete Tool Use and TweelAthlete Operations ConceptsSlide 5Current Operations: DrivingCurrent Operations: WalkingNASA and Autonomy: Mission NeedNASA and Autonomy: Mission SafetyNASA and Autonomy: The Ground Tool RouteProject GoalsAthlete FootFall Planning Project DataFlow OverviewAthlete FootFall Planning Project Terrain Analysis ModuleAthlete FootFall Planning Project Stability and Reachability ModuleFootFall WorkbenchTraversability AnalysisStability and Reachability MapSlide 18Command GenerationFirst StepsNext Steps: Motion PlanningSlide 22Slide 23Slide 24Configuration Space and Task SpacePlan PreviewPlanning and Display TorquesBody Length WalkingSlide 29Soon……Thanks to the Team(s)!!!!Questions?Other Famous Walking RobotsRough Path Planning1Intelligent Robotics GroupAthletic WalkingVytas SunSpiral, CMU/NASA Ames3Intelligent Robotics GroupAthlete Tool Use and Tweel4Intelligent Robotics GroupAthlete Operations ConceptsPicture of 50% scale ATHLETE (2.75m diameter) with lunar lander mockup.5Intelligent Robotics GroupAthlete Operations Concepts6Intelligent Robotics GroupCurrent Operations: DrivingOptimized for Driving7Intelligent Robotics GroupCurrent Operations: WalkingWalking requires human help.8Intelligent Robotics GroupNASA and Autonomy:Mission NeedComet Rendezvous9Intelligent Robotics GroupNASA and Autonomy:Mission SafetyMER Rovers Implemented Autonomous Navigation and Visual OdometryClosed Loop Control Can Be Safer10Intelligent Robotics GroupNASA and Autonomy:The Ground Tool RouteDecision SupportTeleoperationCommand Suggestion“yes-to-all”Data AnalysisPlannersConstraint EnginesTask Level Autonomy11Intelligent Robotics GroupProject GoalsField Test Single FootfallPrototype Body Length WalkingPrototype Decision Support for Single Footfall- System Integration - Terrain and Stability Analysis- User Interface- Command GenerationYear 1Year 212Intelligent Robotics GroupAthlete FootFall Planning ProjectDataFlow OverviewTime DelayMotion Planning13Intelligent Robotics GroupAthlete FootFall Planning ProjectTerrain Analysis ModuleAmes Vision Workbench14Intelligent Robotics GroupAthlete FootFall Planning ProjectStability and Reachability Module15Intelligent Robotics GroupFootFall Workbench16Intelligent Robotics GroupTraversability Analysis17Intelligent Robotics GroupStability and Reachability Map18Intelligent Robotics GroupStability and Reachability Map19Intelligent Robotics GroupCommand Generation20Intelligent Robotics GroupFirst StepsSuccessfully placed foot on rock as commandedNaïve linear motions not robust (as expected).21Intelligent Robotics GroupNext Steps: Motion Planning22Intelligent Robotics GroupNext Steps: Motion Planning23Intelligent Robotics GroupNext Steps: Motion Planning24Intelligent Robotics GroupNext Steps: Motion Planning25Intelligent Robotics GroupConfiguration Space and Task SpaceRapidly-exploring Random Trees (RRTs)Need to Search Configuration Space to avoid Singularities and Joint Limits26Intelligent Robotics GroupPlan Preview27Intelligent Robotics GroupPlanning and Display Torques28Intelligent Robotics GroupBody Length Walking29Intelligent Robotics GroupBody Length Walking30Intelligent Robotics GroupSoon……31Intelligent Robotics GroupThanks to the Team(s)!!!!Daniel Chavez Michael BroxtonLeslie Keely Patrick Mihelich Javier BarreiroTristan SmithDavid MittmanCurtis CollinsAmes:JPL:32Intelligent Robotics [email protected] Robotics GroupOther Famous Walking RobotsDante IIAmbler34Intelligent Robotics GroupRough Path PlanningCan we plan a path for the CG with maximizes the reachable area for the legs over the


View Full Document

UI ECE 591 - SunSpiral

Documents in this Course
Contol

Contol

11 pages

Load more
Download SunSpiral
Our administrator received your request to download this document. We will send you the file to your email shortly.
Loading Unlocking...
Login

Join to view SunSpiral and access 3M+ class-specific study document.

or
We will never post anything without your permission.
Don't have an account?
Sign Up

Join to view SunSpiral 2 2 and access 3M+ class-specific study document.

or

By creating an account you agree to our Privacy Policy and Terms Of Use

Already a member?