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Exploiting Natural Dynamics in Exploiting Natural Dynamics in the Control of a 3D Bipedal the Control of a 3D Bipedal
Walking SimulationWalking Simulation
Jerry Pratt, Gill PrattJerry Pratt, Gill Pratt
MIT Leg LaboratoryMIT Leg Laboratory
www.ai.mit.edu/projects/leglab/www.ai.mit.edu/projects/leglab/
OutlineOutline
• Background:Background:– Previous WorkPrevious Work– Series Elastic ActuatorsSeries Elastic Actuators
• Natural Mechanisms for WalkingNatural Mechanisms for Walking
• Planar Robot Algorithm and Results Planar Robot Algorithm and Results
• 3D Simulation Algorithm and Results3D Simulation Algorithm and Results
• Conclusions and Future WorkConclusions and Future Work
Background: Previous WorkBackground: Previous Work
• Passive Dynamic WalkersPassive Dynamic Walkers– Natural LookingNatural Looking
– EfficientEfficient
– Simple (No) ControlSimple (No) Control
• Powered Bipedal RobotsPowered Bipedal Robots– Capability PotentialCapability Potential
– Practical/Market PotentialPractical/Market Potential
– Biological Similarity Biological Similarity PotentialPotential
PassiveWalkers
PoweredWalkers
Background: Background: Series Elastic ActuatorsSeries Elastic Actuators
MotorGearTrain
SeriesElasticity
Load
ForceSource
Load
Background: Background: Series Elastic ActuatorsSeries Elastic Actuators
Designed by David Robinson and Daniel Paluska
OutlineOutline
• BackgroundBackground• Natural Mechanisms for WalkingNatural Mechanisms for Walking
– KneecapKneecap– Compliant AnkleCompliant Ankle– Passive SwingPassive Swing
• Planar Robot Algorithm and Results Planar Robot Algorithm and Results • 3D Simulation Algorithm and Results3D Simulation Algorithm and Results• Conclusions and Future WorkConclusions and Future Work
OutlineOutline
• BackgroundBackground
• Natural Mechanisms for WalkingNatural Mechanisms for Walking
• Planar Robot Algorithm and ResultsPlanar Robot Algorithm and Results
• 3D Simulation Algorithm and Results3D Simulation Algorithm and Results
• Conclusions and Future WorkConclusions and Future Work
Planar Robot AlgorithmPlanar Robot Algorithm
• HeightHeight: Constant vertical : Constant vertical force.force.
• PitchPitch: PD controller on : PD controller on stance leg.stance leg.
• Swing LegSwing Leg: Mostly Passive.: Mostly Passive.
• SpeedSpeed: Naturally stable for : Naturally stable for slow speeds.slow speeds.
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OutlineOutline
• BackgroundBackground
• Natural Mechanisms for WalkingNatural Mechanisms for Walking
• Planar Robot Algorithm and Results Planar Robot Algorithm and Results
• 3D Simulation Algorithm and Results 3D Simulation Algorithm and Results
• Conclusions and Future WorkConclusions and Future Work
Simple Foot Placement ModelSimple Foot Placement ModelTitle:(foot_placement.eps)Creator:Adobe Illustrator(R) 8.0Preview:This EPS picture was not savedwith a preview included in it.Comment:This EPS picture will print to aPostScript printer, but not toother types of printers.
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““Capture Angle”Capture Angle”Title:capture_angle.epsCreator:MATLAB, The Mathworks, Inc.Preview:This EPS picture was not savedwith a preview included in it.Comment:This EPS picture will print to aPostScript printer, but not toother types of printers.
3D Simulation Algorithm3D Simulation AlgorithmTitle:sim_state_machine.epsCreator:fig2dev Version 3.2 Patchlevel 0-beta2Preview:This EPS picture was not savedwith a preview included in it.Comment:This EPS picture will print to aPostScript printer, but not toother types of printers.
3D Simulation Animation3D Simulation Animation
Title:M2_cartoon.epsCreator:MATLAB, The Mathworks, Inc.Preview:This EPS picture was not savedwith a preview included in it.Comment:This EPS picture will print to aPostScript printer, but not toother types of printers.
Simulation DataSimulation Data
Title:M2_sim_data.epsCreator:MATLAB, The Mathworks, Inc.Preview:This EPS picture was not savedwith a preview included in it.Comment:This EPS picture will print to aPostScript printer, but not toother types of printers.
OutlineOutline
• BackgroundBackground
• Natural Mechanisms for WalkingNatural Mechanisms for Walking
• Planar Robot Algorithm and Results Planar Robot Algorithm and Results
• 3D Simulation Algorithm and Results3D Simulation Algorithm and Results
• Conclusions and Future WorkConclusions and Future Work
ConclusionsConclusions
• Passive Mechanisms Helped Make ControlPassive Mechanisms Helped Make Control– SimpleSimple– EfficientEfficient– Natural LookingNatural Looking
• Actuators with Negligible Dynamics are Actuators with Negligible Dynamics are ImportantImportant
• Decoupled Controller Works well for 3D Decoupled Controller Works well for 3D Simulation Walking StraightSimulation Walking Straight
Future WorkFuture Work
• Faster WalkingFaster Walking
• More Robust AlgorithmMore Robust Algorithm
• Biologically Similar AlgorithmBiologically Similar Algorithm
• Automatic Tuning, LearningAutomatic Tuning, Learning
• Central Pattern GeneratorsCentral Pattern Generators
• 3D Robot3D Robot
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