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Biologically-Inspired Robotfor Space Operations
Ron Jacobs, Ph.D.
A NIAC Supported Research Project
Dr. Ron [email protected]
Dr. Ron Jacobs
Art work by Ginny Clark
Dr. Ron Jacobs
Art work by Ginny Clark
Dr. Ron Jacobs
Biologically-Inspired Approach
�Provides for flexible and versatile systemsSubtle and huge forces dependent on task requirementsMultiple yet stable joints due to intrinsic mechanical featuresHigh functionality of limbs with low mass and inertia
�Employs intelligent behaviorUse of if-then rules in control and decision makingAble to reason and interactAdapts to changes in task demands and environment
Dr. Ron Jacobs
Leonardo da VinciIntegration of Biology and Physical Science
From: The drawings of Leonardo da Vinci, AE Popham, London 1994
Dr. Ron Jacobs
Johannes BorelliIntegration of Biology and Physical Science
From: De Motu Animalium, F Mosca, Napels 1734
Dr. Ron Jacobs
Implementation ofBiologically-Inspired Approach
�Employs anatomical and physiological constraintsForce-length and force-velocity characteristics of musclesSelf-limiting joints
�Takes advantage of control features that enhanceperformance of biological systems
Focuses on if-then rules for intelligent control and behaviorUtilizes functional muscle groupings for required force andposition control
�Requires a relatively small computational load
Dr. Ron Jacobs
Analysis and Simulation ofBiological Movements and Control
Courtesy of Musculographics Inc. and Dr. Rick Neptune, VA Hospital Palo Alto, CA
Dr. Ron Jacobs
Hardware implementationFirst prototype of legged robot
Dr. Ron Jacobs
Conventional Robotic DesignHeavily Dependent on Control
Dr. Ron Jacobs
Biologically-Inspired DesignIntrinsic Mechanical Feedback Control
Dr. Ron Jacobs
Technical Feasibility - Video
�First prototypeLegged robot with 18 artificial muscles
�NIAC Phase IProject started in November 1998
�Abilities to date (after four months)Standing (open loop)Disturbance rejection while standing (open loop)Walking movements (open loop)
Dr. Ron Jacobs
Benefits ofBiologically-Inspired Approach
�Allows for intelligent control in a flexible yetstable system
�Facilitates travel and operation in rough terrainsand difficult conditions
�Facilitates high functionality and versatility in alow mass system
Dr. Ron Jacobs
State of the Art
�First prototype demonstrates the power of thebiologically-inspired approach
Implementation of artificial musclesUtilization of intrinsic mechanical properties for local stabilityImplementation of relatively simple control rulesControl of flexible multi-joint systemImplementation of if-then rules for functional muscle groupingsProvision of required force and position control
Dr. Ron Jacobs
Design and Development IssuesThe Next 10 years
�Technical issuesArtificial musclesSensorsSelf-contained powerIntelligent control
�Mobility and operation issuesTravel on even terrainsTravel on rough terrains and difficult conditionsTransformation and versatilityManeuverabilityObject manipulation
Dr. Ron Jacobs
Design and Development IssuesThe Next 10 years
� Intelligent agent issuesAutonomous natureProblem solving and reasoning - especially in novel situationsSpecialization of agent’s performance
�Community of intelligent agent issuesCommunication and reasoning among agentsInteraction and reasoning with remote scientist - human extensionCooperation and problem solving
Dr. Ron Jacobs
NASA Benefits ofBiologically-Inspired Approach
�Provides community of intelligent agentsTravel and operate in rough terrains and difficult conditionsFocus on intelligent control, interaction and cooperationIdeal for exploration beyond the solar systemAbility to explore novel opportunities
�Provides flexible and versatile systemsHigh functionality in a relatively low mass systemHuman-like features ideal for remote human interaction
Dr. Ron Jacobs
Community of Agents
Art work by Ginny Clark
Dr. Ron Jacobs
Futuristic Vision ofBiologically-Inspired Approach
Art work by Ginny Clark
Dr. Ron Jacobs
Dr. Ron Jacobs Intelligent Inference Systems PI, NIAC Research Fellow IIS Corp.
Dr. Hamid Berenji Computational Intelligence
Dr. Sujit Saraf Control Engineering
Prof. Robert Full UC Berkeley Integrative Biology
Prof. Felix Zajac Stanford University Biomechanical Engineering
NIAC Supported Project Team
