OSU ECE 5463 - Legged-Mobile-Robots (19 pages)

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Legged-Mobile-Robots



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Legged-Mobile-Robots

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Pages:
19
School:
Ohio State University
Course:
Ece 5463 - Introduction to Real Time Robotics Systems

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Mobile Robots Legged Take class notes Legged mobile robots Mobile robots are robots which can move There are two types of mobile robots Legged two four six and eight legs Wheeled one two three and four wheels Legged mobile robot has a longer history than manipulators Professor Robert McGhee developed the first walking machine at USC in the 1960 he later joined OSU At OSU he developed the hexapod walking robot Phony Pony OSU Hexapod Legged robots Legged robots were also developed by industry such as the Walking Truck by Ralph S Mosher of General Electric under a commission from the US Army in 1966 ASV adaptive suspension vehicle developed by OSU in the 80s Humanoid robots booming in recent years Honda ASIMO Japan Toyota Japan Toyota Japan SARCOS USA AIST Japan HUBO Korea Legged robot fundamentals Kinematics inverse kinematics and dynamics of legged robots are similar to robot manipulators but more complicated Consider the body as a mobile base and each leg as a manipulator ZB YB XB YN1 XN1 ZN1 ZF1 ZE YE XE YF1 XF1 You can attached a coordinate frame to each link of a limb using the Denavit Hartenberg convention do you still remember Control the motion You need to specify the motion of the body first The position and orientation of the body in the earth frame ETB t which is function of time Then you can specify the position and orientation of each foot with respect to the body according to the required body motion where m 1 2 3 4 5 or 6 nFmx n B TFm t Fmy nFmz 0 oFmx oFmy aFmx aFmy oFmz 0 aFmz 0 pFmx pFmy pFmz 1 The goal is to achieve ETB t through the motions of individual feet Collaborated motions of the feet form a gait Walking gaits Animals use a few types of gaits Walk trot run gallop difference Gaits are naturally designed to achieve both stability and efficiency In general animals use static or dynamic walking gaits difference Static center of gravity COG always falls in a supporting area Dynamic COG temporarily falls out of the supporting area periodically



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