Upload
prasaddugad
View
227
Download
0
Embed Size (px)
Citation preview
7/27/2019 Autonomous Biped with Self Maneuvering Ability
1/14
7/27/2019 Autonomous Biped with Self Maneuvering Ability
2/14
Contents
Abstract
Introduction
Problem Statement
Literature Survey
Autonomous Bipedal Mechanism
Principle of Operation
Block Diagram
Methodology
Features & Applications
References
7/27/2019 Autonomous Biped with Self Maneuvering Ability
3/14
Abstract
Controlling a biped robot with a high degree of freedom to achieve
stable and straight movement patterns is a complex problem
With growing computational power of computer hardware, high
resolution real time simulation of such robot models has become moreand more applicable
Particle Swarm Optimization (PSO) is used to calculate optimum
direction of maneuvering of bipedal motion
7/27/2019 Autonomous Biped with Self Maneuvering Ability
4/14
Introduction
Bipedal Locomotion
The technique of using legged mechanism instead of wheels
Inspired from the Bipedal Trajectile motion of humans andsimilar creatures to develop such systems for specializedapplication
Need and advantages
Replaces Wheeled motion effectively especially in rugged anduneven terrain
Provides Insight into the Biophysics of Human Motion
Uses and application
Autonomous Maneuvering of vehicles
Intelligent Motion in rugged terrain
7/27/2019 Autonomous Biped with Self Maneuvering Ability
5/14
Problem Statement
The Aim of the projectis to implementeffective intelligent algorithms that can
- Simplify complexity of dynamics
- Produce effectively intelligent motion forautonomous locomotion
7/27/2019 Autonomous Biped with Self Maneuvering Ability
6/14
Literature Survey
7/27/2019 Autonomous Biped with Self Maneuvering Ability
7/14
Project Motivation
Wheeled Motion Ineffective in uneventerrains
Legged or Bipedal Motion seems aneffective solution
But complexity of control poses a practicalproblem
Autonomous Bipedal Mechanism(A.B.M)
7/27/2019 Autonomous Biped with Self Maneuvering Ability
8/14
Passive Dynamic Walking
Mathematical model for reflexive motion of human legs.
Represents Bipedal motion as a type of Inverted Pendulumloosely controlled through neural receptors
Self Maneuvering with Intelligent Algorithms (IAs)
Above principle of mechanism easily implemented by humanbrain control
But complex to be realized using logic algorithms
Intelligent algorithms utilizing optimization techniques areused to approximate such motion
Principle Of Operation
7/27/2019 Autonomous Biped with Self Maneuvering Ability
9/14
Block Diagram
AVR
BASED
MOTHER
BOARD
SENSOR
CONTROL
BOARD
MOTOR
CONTROL
BOARD
MOTOR - 1
MOTOR - 2
MOTOR - 4
MOTOR - 3
S1
S2
S3 S4
7/27/2019 Autonomous Biped with Self Maneuvering Ability
10/14
Working
Servo Motors
RC servos DC Motors withPWM control
S/W PWM generated throughmotherboard
Bipedal Operation Utilizes Partial Passive Dynamic
walking mechanism
Angle of leg joints preciselycontrolled using RC Servos
7/27/2019 Autonomous Biped with Self Maneuvering Ability
11/14
Working (Contd)
Sensing Mechanism
4 Optical Proximity Sensors used
Two for Obstacle Detection
Two for Level Detection
Intelligent Sensing Makes use of optimization algorithms for deciding the
direction, angle, orientation of maneuvering.
7/27/2019 Autonomous Biped with Self Maneuvering Ability
12/14
Features and Applications
Advantages
Motion on rugged surfaces
Autonomy of action
Disadvantage
Complex algorithm
Higher root locus area for instability
Application
Autonomous Maneuvering of vehicles
Obstacle Detection
Intelligent Motion in rugged terrain
Prosthetic Leg
7/27/2019 Autonomous Biped with Self Maneuvering Ability
13/14
IEEE papers mentioned in the Literature Survey have been
referred
Hazem Ahmed, Janice Glasgow, Swarm intelligence,:
Concepts, Models and Applications, Technical Report 2012-585.
Mark Flischer, Foundations of Swarm Intelligence, University
of Maryland
Ajith Abraham, He Buo, Hongbo Liu, Swarm Intelligence
Foundations, Perspectives and applications
Davoud Sedighizadeh and Ellips Masehian, Particle Swarm
Optimization Methods, Taxonomy and Applications.
Reference
7/27/2019 Autonomous Biped with Self Maneuvering Ability
14/14
Thank You