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Asguard: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
DFKI- Labor Bremen & Universität Bremen
Forschungsgruppe Robotik
Director: Prof. Dr. Frank Kirchner
www.dfki.de/robotics
robotics@dfki.de
2 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
Overview
• Motivation for Legged-Wheel Locomotion• The Physical Robot Asguard• CPG-based Locomotion Control• Adaptive Proprioceptive Control• Results
3 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
Motivation for Legged-Wheel Locomotion
• Wheels are most suitable for high velocities
• Legs are suitable to overcome obstacles and climb stairs
• Many robotic applications in security and SAR fields need both
• Combining the advantages of wheeled and legged locomotion in one system
ARAMIES Walking Robot
Asguard Hybrid Legged-Wheel Robot
4 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
The Physical Robot Asguard (I)
• Five compliant legs are mounted around an axis shaft• Elastic foot tips reduce shock for high velocities• Elastic spinal column (passive) for ground adaptation
Asguard compliant leg Shock absorbing foot tip Schematic of stair climbing
5 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
The Physical Robot Asguard (II)
LiPoly Battery30V/10Ah
PC 104 Onboard
Computer
Modular Camera Section
(Zoom / IR)
Custom FPGA Sensor/Motor Board
4x Faulhaber 24V DC 83W
Weight: 11.5 kg
95 cm
50 cm
6 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
CPG Based Locomotion Control (I)
• Central Pattern Generators in biological systems are self-sustaining neural circuits which produce rhythmic oscillations.
• These patterns can be found in biological systems (from insects to humans), where rhythmic actuation is required (e.g. walking, chewing).
Eight legged scorpion robot Hadrurus arizonensis
7 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
CPG Based Locomotion Control (II)
8 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
Adaptive Proprioceptive Control (I)
• Key idea and innovation for compliant legs: No fixed motion pattern for different types of terrain Adjustment of CPG internal control loop Use of „adaptive spring“, based on proprioceptive data (energy
distribution for each leg)
Adaptive control based on proprioceptive data
9 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
Adaptive Proprioceptive Control (II)
• Online adaptation of internal position controller by adjusting the proportional factor in correlation with the current discrepancy
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10 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
Fig. 1: Front Left Fig. 2: Front Right
Fig. 3: Rear Left Fig. 4: Rear Right
Results (I): Phase Sync Without Adaptive Control
11 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
Results (II): Phase Sync With Adaptive Control
Fig. 1: Front Left Fig. 2: Front Right
Fig. 3: Rear Left Fig. 4: Rear Right
12 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
Results (III): Demonstration of Mobility
13 / 14ASGUARD: A Hybrid Legged-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Dipl. Inf. Markus Eich
Outlook
• Investigation about different gaits in terms of efficiency/speed
• Research about adaptive gait transitions• Next prototype (waterproof) already under development• Increase autonomy in terms of navigation under Asguards
odometry constraints
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