Mobile Robots, Personal Assistance, and Games! Robert Stengel! Robotics and Intelligent Systems MAE 345, Princeton University, 2013"Copyright 2013 by Robert Stengel. All rights reserved. For educational use only.!http://www.princeton.edu/~stengel/MAE345.html!• Legged Creatures"• Ground Vehicles"• Air Vehicles"• Space Vehicles"• Sea and Undersea Vehicles"• Personal Assistance"Legged CreaturesWalking, Running, and Jumping Human Walking https://www.youtube.com/watch?v=Fws-HYAQvq8 Spider Walking http://www.youtube.com/watch?v=dE2QPYKju04!Spider Walk Animation http://www.youtube.com/watch?v=MFx36uEPxV8&NR=1!FreeRunning http://www.youtube.com/watch?v=WEeqHj3Nj2c!Dynamic Effects Increase with Speed • Horizontal foot motion ~ sinusoidal oscillation"• Increasing acceleration from walk to jog to run"• Increasing importance of forces and dynamics"Distance Speed AccelerationGaits"Muybridge, 1877 • Biped"• Quadraped"• Hexaped"• Walking"– Statically stable"– Statically unstable"• Running"Quadraped Gaits"Feet on the Ground Canter PaceLocomotor Primitives"Grillner, Science, 2011 • Common across legged vertebrate species"• Brain command"• Spinal column central pattern generator"• Phases of motor-neuronal activity"• “Toe-off”"• Flexion"• Extension"• Limb alternation"• Muscle activation"Biped Robots"MIT Leglab Walking Robots"http://www.youtube.com/watch?v=vHjVV7AWaGM"Passive Walking TU Delft"Passive Walking Robots http://www.youtube.com/watch?v=Njos0_r6TE4 Cytron Kit Robot"American Android All-Terrain Biped"(David Handelman, *89)"http://www.youtube.com/watch?v=UX0P11wNkcM Hexapod Robots"RHex (Boston Dynamics)"http://www.youtube.com/watch?v=a0NFrA-Nx4Y!Combined walking and rolling motion"Alternating tripod gate"iJus (Princeton ‘13 IW) https://www.youtube.com/watch?v=35owx65Ei6g&hd=1 Rigid body Flexible spine (3 segments)Mantis Hexapod Vehicle"http://www.youtube.com/watch?v=1sRlFQLwg3w Big Dog and PETMAN"Boston Dynamics"http://www.youtube.com/watch?v=xqMVg5ixhd0 http://www.youtube.com/watch?feature=player_embedded&v=tFrjrgBV8K0Robotic Exoskeleton "(UC Berkeley)"• Paraplegic student walks at 2011 UC Berkeley graduation"http://newscenter.berkeley.edu/2011/05/12/paraplegic-student-exoskeleton-graduation-walk/ BLEEX BLEEX http://www.youtube.com/watch?v=fRkg6H0ZP8A Smart Knee and Robot Ankle"Stairs (Traditional Prosthetic)" Stairs (MIT Smart Knee)"Robotic Ankle http://www.youtube.com/watch?v=HhSVqsHzRl4Hopping Robots "2-D (Planar)"3-D"High inertia of “sprung” mass"Kangeroo hopping http://www.youtube.com/watch?v=OpYRIW314sE Sandia Robot http://www.youtube.com/watch?v=SDSkqt2xpcc Ground VehiclesWheeled and Tracked Ground Vehicles"• Vacuum cleaners (Roomba)"• Military/Emergency robots (PackBot)"• Exploration robots (Yeti)"PackBot in Action http://www.youtube.com/watch?v=eaP0waiz43w!http://www.youtube.com/watch?v=CLIPLiQDIk0 Yeti in Greenland https://www.youtube.com/watch?v=9DhX02R3QSo Yeti, and Laura Ray ‘84, *91"DARPA !Grand Challenge !First Round!http://www.youtube.com/watch?v=uWLjgs2CEyE!Autonomous Automobiles"Princeton Autonomous Vehicle Engineering (PAVE) Prospect 11, Prospect 12 Stanford Stanley (DARPA Winner, 2005) Google Self-Driving Car Mars Exploration Rovers Spirit and Opportunity, 2003 Pathfinder, 1997 (“Sojourner”)Mars Science Laboratory (Curiosity) • Transport science payload over Martian surface"– Rocker-bogie design"• Communications with Earth"• Guidance, navigation, and control"• Power supply"• Support for deployable devices"• Size ~ Mini-Cooper"• In development"Curiosity Trailer http://www.nasa.gov/multimedia/videogallery/index.html?collection_id=18895&media_id=105929071 The Blob"(MIT Leg Laboratory, 1995-97)"Meshworm Robot"(Seoul, MIT, Harvard)"http://www.youtube.com/watch?v=EXkf62qGFII Mesh of shape-memory alloy activated by differential heating"Snake Robots"Sea and Undersea VehiclesSwimming Human Swimming http://www.youtube.com/watch?v=CIzBaSiWdRA!Fish Swimming http://www.youtube.com/watch?v=U_VJ_0wORbM!• Lift, drag, and vorticity"• Schooling behavior"Swimming Gaits"Anguilliform locomotion Long, slender fish, e.g., lamprey Little increase in amplitude of flexion wave along the body Sub-carangiform locomotion Marked increase in wave amplitude along the body Majority of work being done by rear half of fish Stiffer fish body Higher speed but reduced maneuverability Carangiform locomotion Stiffer and faster-moving, e.g., trout Majority of movement rear of body and tail Rapidly oscillating tails Thunniform locomotion High-speed long-distance swimmers, e.g. tuna, shark Virtually all lateral movement in the tail Tail itself is large and crescent-shaped Central Pattern Generator"“Neural circuits that generate periodic motor commands for rhythmic movements such as locomotion” (Kuo, 2007) Squid Robot http://www.youtube.com/watch?v=nS8iZ7ns2i4!Autonomous Mobile Explorers • MBARI Ventana"• Autonomous Benthic Explorer "• VPI concept"• Oberon (U Sydney)"AQUA http://www.youtube.com/watch?v=9Vm-gQ9_H9I&feature=related Autonomous Underwater Vehicles RoboTuna (MIT)"RoboLobster (Northeastern)"Autonomous Underwater Gliders • Slocum Glider"– Variable ballast for climb and dive"– Adaptive schooling guidance (Leonard et al)!http://www.youtube.com/watch?v=aRyEDzaogPc!Monterey Bay Experimental Program"Air VehiclesFlying Birds Flying http://www.youtube.com/watch?v=I5GbFgk-EPw!Lady Bug http://www.youtube.com/watch?v=fjZobEZJYBc!Moth Flying http://www.youtube.com/watch?v=Fe6j5w2wKCY!Eagle vs. Eagle http://www.youtube.com/watch?v=tufnqWNP9AA&feature=video_response!Hummingbird http://www.youtube.com/watch?v=D8vjYTXgIJw&feature=related!Humans, Wheels, and Wings Inspired Bicycle http://www.youtube.com/watch?v=Z19zFlPah-o!Hang Gliding http://www.youtube.com/watch?v=-qA6pN1aeZ4!Skateboarding http://www.youtube.com/watch?v=CQzUsTFqtW0!Uninhabited Air Vehicles (UAV) X-45A http://www.youtube.com/watch?v=OfxJLI6m4tI Biomimetic UAVs Markus Fisher at TED http://www.youtube.com/watch?v=Fg_JcKSHUtQ Aerovironment Nano Hummingbird http://www.avinc.com/nano Festo Air Ray Dirigible http://www.youtube.com/watch?v=UxPzodKQays Harvard Robo-Flies http://www.youtube.com/watch?v=2lQcKr0A_7cUninhabited Aircraft MQ-9 Reaper