SLIDE 1
Bipedal Locomotion by Pneumatic Artificial Muscles Koh Hosoda - - PowerPoint PPT Presentation
Bipedal Locomotion by Pneumatic Artificial Muscles Koh Hosoda - - PowerPoint PPT Presentation
Bipedal Locomotion by Pneumatic Artificial Muscles Koh Hosoda Osaka University The aim Key Technology McKibben artificial muscles are powerful cheap and easy to produce compliant The Premise Muscular-skeleton structure is the key for
SLIDE 2
SLIDE 3
Key Technology
McKibben artificial muscles are powerful cheap and easy to produce compliant
SLIDE 4
The Premise
Muscular-skeleton structure is the key for dynamic locomotion.
SLIDE 5
Antagonism=Tunable Compliance
SLIDE 6
Idea
Not to Control Precisely! Simple and Less Control Let Dynamics Do Task Start Small Gradually Increase Complexity
SLIDE 7
Robots
SLIDE 8
Walking
SLIDE 9
空脚 (Que-Kaku): 2D limit cycle walker
2003‐2005
SLIDE 10
空脚 (Que-Kaku): 2D limit cycle walker
Adding muscles to Passive Dynamic Walker Simple control: swing after touch
2003‐2005
SLIDE 11
Pneu-man: 3D limit cycle walker
2004‐2005
SLIDE 12
Pneu-man: 3D limit cycle walker
2004‐2005
Removing outer legs Simple control: swing after touch
SLIDE 13
Pneumat-BT: 3D limit cycle walker w/ torso
2006
SLIDE 14
Pneumat-BT: 3D limit cycle walker w/ torso
Adding a torso to Pneu-man Changing ankle angles Simple control: swing after touch
2006
SLIDE 15
Peumat-BB: 2D walker (reprise)
2011
SLIDE 16
Peumat-BB: 2D walker (reprise)
We will see this on Friday! @ “Anthropomorphic Design and Bionic Control” 11:40-12:00
2011
SLIDE 17
Jumping and Running
SLIDE 18
空脚 (Que-Kaku) R: 2D jumper/runner
2005‐2007
SLIDE 19
空脚 (Que-Kaku) R: 2D jumper/runner
2005‐2007
SLIDE 20
空脚 (Que-Kaku) R: 2D jumper/runner
2005‐2007
Program valve operations by hand Jumping motion after touch No balancing control
SLIDE 21
空脚 (Que-Kaku) K: Monopod w/ bi-articular muscles
2007‐2009
SLIDE 22
空脚 (Que-Kaku) K: Monopod w/ bi-articular muscles
2007‐2009
SLIDE 23
空脚 (Que-Kaku) K: Monopod w/ bi-articular muscles
2007‐2009
Bi-articular Muscles for Joint coordination Simple control wo/balance
SLIDE 24
Pneumat-BR: 3D biped walker/jumper
SLIDE 25
Pneumat-BR: 3D biped walker/jumper
SLIDE 26
Pneumat-BS: Whole Body Humanoid
SLIDE 27
Pneumat-BS: Whole Body Humanoid
SLIDE 28
Pneumat-BS: Whole Body Humanoid
SLIDE 29
Pneumat-BS: Whole Body Humanoid
SLIDE 30
No Conclusion Yet?
SLIDE 31