Minimal Actuation in Legged Locomotion Prof. Ron Fearing Dept. of - - PowerPoint PPT Presentation

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minimal actuation in legged locomotion
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Minimal Actuation in Legged Locomotion Prof. Ron Fearing Dept. of - - PowerPoint PPT Presentation

Jan 01, 2023 47 likes •207 views

Minimal Actuation in Legged Locomotion Prof. Ron Fearing Dept. of EECS Univ. of California, Berkeley http://bml.eecs.Berkeley.edu 1 / 16 Robotics Systems and Science 2016 Workshop on Minimality Minimality in Design/Fabrication Sahai IROS 2003

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Robotics Systems and Science 2016 Workshop on Minimality

Minimal Actuation in Legged Locomotion

  • Prof. Ron Fearing
  • Dept. of EECS
  • Univ. of California, Berkeley

http://bml.eecs.Berkeley.edu

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Robotics Systems and Science 2016 Workshop on Minimality

Minimality in Design/Fabrication

``Robozome’’ Robotic Folding of 2D and 3D Structures from a Ribbon, Liyu Wang, Mark Plecnik, Ronald Fearing IEEE Int. Conf. Robotics and Automation, Stockholm, May 2016.

  • 1. Grab handling brick

Strain gauge attachment using handling block Thompson&Fearing, IROS 2001 Sahai IROS 2003

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Robotics Systems and Science 2016 Workshop on Minimality

Complexity and Minimality for Legged Locomotion Mechanical complexity performance

N=1 actuator N=2 actuator N=3 actuator N=4 actuator N=5 actuator N=0 actuator

Sweet spot for design

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Robotics Systems and Science 2016 Workshop on Minimality

Complexity

  • Number of motors
  • Structure: joints, stiffness, feet
  • Control
  • Sensing

For high speed running:

1 motor + tuned structure, no control or sensing Claim: tuned structure reduces control and sensing

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Robotics Systems and Science 2016 Workshop on Minimality

Birkmeyer, Peterson, Fearing, IROS 2009

0 ms 23.3 ms 10 ms 16.7 ms

Ground impact at ~6.5 m/s

DASH- Dynamic Autonomous Sprawled Hexapod

first 10 cm scale folded robot: 2009 normal fore/aft weight

1:06

One drive + 1 steering motor

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CLASH robot climbing with PDMS directional adhesive

Birkmeyer , Gillies, and Fearing, IROS 2012

video: http://robotics.eecs.berkeley.edu/~ronf/Ambulation/Movies /65deg-climb.wmv

e.g. Parness et al. JRSI 2009

70 degree slope

0:20 0:20

One drive motor+foot

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Robotics Systems and Science 2016 Workshop on Minimality

Dynamic Climbing with Claws

loose-quilt.asf

CLASH Birkmeyer et al IROS 2011

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Retracting Loaded Unloaded

Claws

0:10

One drive motor+foot

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Running Beyond the Bioinspired Regime

Haldane and Fearing, ICRA2015

video: robotics.eecs.berkeley.edu/~ronf/Ambulation/Movies/RunBeyondBioInspired.mp4

single motor, minimally actuated

X2-RoACH

VelociRoACH ~30 W/kg X2-RoACH ~120 W/kg

0:27

47 body lengths/second

One drive motor (2 sides pinned

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1 STAR- steering robot with one actuator

Turn Left Turn Right

  • D. Zarrouk and R.S. Fearing, IROS 2012
  • D. Zarrouk and R.S. Fearing, IEEE Transactions on

Robotics, Feb. 2015.

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1 STAR- steering robot with one actuator

Compliant Leg

1star-excerpts.wmv

  • D. Zarrouk and R.S. Fearing, ``Compliance-Based

Dynamic Steering for Hexapods,'‘ IROS 2012

video: http://robotics.eecs.berkeley.edu/~ronf/Ambulation/Movies/1Star-ICRA14.mp4

  • D. Zarrouk and R.S. Fearing, Controlled In-Plane

Locomotion of a Hexapod Using a Single Actuator, IEEE Trans. on Robotics, 2015.

0:42

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Robotics Systems and Science 2016 Workshop on Minimality

Complexity and Minimality for Planar Jumping Mechanical complexity performance

N=1 actuator N=0 actuator N=3 actuator N=4 actuator N=5 actuator N=2 actuator

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1 motor 2 link Acrobot (1992)

Berkemeier and Fearing IROS 1992, ICRA 1994, TRA 1998 Hopping gait Sliding gait

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1 motor 8 bar linkage jumper (2016)

Haldane, Plecnik, Yim, Fearing, submitted

Built in to mechanism:

  • Compliance
  • Straight line motion
  • Constant acceleration
  • Energy storage
  • Minimum angular velocity at takeoff
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Robotics Systems and Science 2016 Workshop on Minimality

Complexity and Minimality for legged locomotion Mechanical complexity performance

N=1 actuator N=0 actuator N=3 actuator N=4 actuator N=5 actuator N=2 actuator

Sweet spot for design

Seinsing & Computation complexity

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  • C. Casarez ICRA 2016

Step climbing by Dextrous Manipulation (joint operation)

0:29

2 robots X 2 drive motors + 1 motor driven tether Joint complexity?

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Conclusions

Minimally-actuated dynamic ambulation

(possible tool for biological questions):

  • 1. dynamics from structure and interactions, not nervous

system (passive stabilization)

  • 2. Contact mechanics + compliance may have bigger

effect than control (for underactuated systems)

  • 3. rich dynamic behavior can be exploited for yaw

maneuverability

  • 4. high power density from using single motor

What about combining minimal robots to get complex behavior at linear cost?