13
18 2008 - 29 - kawazoesit.ac.jp Yoshihiko KAWAZOE Department of Human-Robotics, Faculty of Engineering, Saitama Institute of Technology In the previous paper, we realized the simple self-sustained humanlike robust walking & running NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability without ZMP (Zero Moment Point) control, which uses only small active power with simple chaotic limit cycle, further developing into autonomous walking, running, instantaneous turn and the simple autonomous shock avoidance during falling down and instantaneous rising up. Instability makes the natural movement. This paper made clear experimentally by using high-speed video camera the mechanism of robustness of humanoid biped robot GENBE who walks and runs everywhere even on the ice and snow. Key Words: Robotics, Humanoid Biped Robot, Robustness, NANBA Walk and NANBA Run, Limit Cycle. 25 1) 10 15 (1) (2) (3) 150

紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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Page 1: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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Yoshihiko KAWAZOE

Department of Human-Robotics, Faculty of Engineering, Saitama Institute of Technology

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In the previous paper, we realized the simple self-sustained humanlike robust walking & running NANBA

of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability without ZMP (Zero Moment Point) control, which uses only small active power with simple chaotic limit cycle, further developing into autonomous walking, running, instantaneous turn and the simple autonomous shock avoidance during falling down and instantaneous rising up. Instability makes the natural movement. This paper made clear experimentally by using high-speed video camera the mechanism of robustness of humanoid biped robot GENBE who walks and runs everywhere even on the ice and snow.

Key Words: Robotics, Humanoid Biped Robot, Robustness, NANBA Walk and NANBA Run, Limit Cycle.

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Page 2: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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(a) (b) (c) (d)

(e) (f) (g) (h) � � � � � � (i) � � � Fig.1 Robustness of humanoid biped robot GENBE who walks and runs everywhere.�

Page 3: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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- 31 -

KCLMNOPQRSTU�VWXY � �<=�¬/����-­®¯Y�-°±�

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����-­®¯ 2 YzÞÔ 300mm,�{ 550g,g 2,g 3�,�|l_,(1) })zÞ�9~�|X'+�.!��((2) }fzm�+@�/9���*l9+'+�!c����

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Fig.2 Biped walking robot GENBE-No.2 with 6 freedom legs

(a) State 1�

(b) State 2

Fig.3 Fundamental States of NANBA Walking of GENBE- No.2 with 6 freedom legs

� g 45,������SCD����+T.�A�BCD�����6�9!*(F ��

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Fig.4 Forward speed vs pitch speed of biped robot GENBE No.2 with legs of 6 joints.�

� FFiigg..55 HHumanoid biped robot GENBE No.4.with legs of 10joints.

Page 4: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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12)(� � g 65,g 5�!V�. 1067¬/�����¬X 340mm,{u 1.3 kg��°±�²@³°±�´J� }g_�J, } 1�State 1�5�|l_�9LL~�x­�V��.9½

�� }, } 2�State 2�5�.!�_®�V� }_�'( } 3,45,g 7�ç¦�,

� � � � � � � � � � � (a)� � � � � � � � � � � � � � � � � � � (b) � � � � � � � � � � � � � � � � � �� State 1

� � � � � � � � � �� (a)� � � � � � � � � � � � � � � � � (b) � � � � � � � � � � � � � � � � � � � State 2

� � � � � � � � � � � Fig.6 States of NANBA Walk and Run of biped robot GENBE No.4-2007.

� � �

� � (a) (b) � � (a) (b) � � (a) (b)� � � � � (a) (b) � � � State1 � � � State2 � � � � � State3 � � � State4 � Fig.7 Four States of NANBA Walk and Run of biped robot GENBE No.4-2007.

� � 0.00 s 0.33 s 0.67 s 1.00 s� � 1.33 s 1.67 s � � � 2.00 s 2.33 s � 2.67 s � � � 3.00 s � State 2� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State 3

3.33 s 3.67 s� � � � 4.00 s 4.33 s 4.67 s 5.00 s� � � � 5.33 s 5.67 s � � � 6.00 s 6.33 s

Fig.8 State transition from State 2 (Statically stable) to State 3 (Statically unstable), falling down to the ground.

Page 5: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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- 33 -

(1) t = 0.000 s (3) t = 0.133 s (5) t = 0.266 s (7) t = 0.399 s (9) t = 0.532 s� � (11) t = 0.666 s

� � � � � � � � Fig.9 NANBA walking & running of YYoosshhiinnoorrii�� KKOOHHNNOO

�� � � t=0.00s t=0.06s � � t=0.12s � t=0.18s � t=0.24s � � t=0.30s� � � � � � � � t=0.36s � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State1� � � � � � � � � � � � � � � � � � � Nearly State2

t=0.42s � t=0.48s � t=0.54s � t=0.60s � � t=0.66s � � � � � � � � t=0.72s � t=0.78s � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State3� � � � � � � � � � � � � � � � � � Nearly State4 � � � �� (a) Operating Time ( Speed) :10, Forward speed:13.5cm/s, 2.43 steps/s

t=0.00 s t=0.04 s t=0.08 s � t=0.12 s t=0.16 s t=0.20 s � � t=0.24 s t=0.28 s � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State 1

t=0.32 s t=0.36 s � t=0.40 s t=0.44 s� � � t=0.48 s t=0.52 s � � t=0.56 s� � � � t=0.62 s Nearly State 2� � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State 3� � � � � � � � � � � Nearly State4 � (b ) Operating Time ( Speed) :7, Forward speed: 20.2cm/s, 3.52 steps/s

� � 0.00s 0.02 s 0.04 s 0.06 s 0.08 s 0.10 s 0.12 s 0.14 s 0.16 s � � � � � � � Nearly State4� � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State1� � � � � � Nearly State2

0.18 s 0.20 s 0.22 s 0.24 s 0.26 s 0.28 s 0.30 s 0.32 s 0.34 s � Nearly State3� � � � � � Nearly State4 � � � � (c ) Operating Time (Speed) : 3&4, Forward speed: 36.5 cm/s, 6.58 steps/s.� Fig.10 NANBA Walk and Run of biped robot GENBE No.4-2007. NANBA Run takes only 0.3 seconds for 2 steps. A%¯% } 1, } 2��_�J,°±�²@³°±�´J5�¥�ê� }9�J�*(

} 15���, } 35~��ø%�VH¦�_,��9°_±I� }_�²³´_�'( � g 85, } 223 } 3���*'i���¢�µ�¹9�UV�+@�¬/����

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} 4���*'m+�çJ×øV?&_²�m+!�['( � g 95¶·Ã<=�³¸j¹�°±�д

Page 6: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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- 34 -

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��250 fps�_¾_V�R_�J�) 2²�,g10(a),g 10(b),g 10(c)5¿��F �G ��d�14Àí9Á�V�&'��×KCD9

EV�&'�(g 10(c)!w¨C�,´Âï[�ç'A�BCD5 6.58 steps/s,�SCD536.5cm/s_�'(A�BCD5,ÃÄZ£±A�HŽ 100mƵã£��³�t�Ç��ÈÉ 4.96²,ª4�Ê�+Ë*%'ÈÉ 5²�NHK,¡;±xÌ�;±�Í�9ÎI�&'(g 105,g 9�!V�°±�дJ��z9ÏÝV�-°±�²@³°±�´JY_�J,A��

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L���YC � g 115,�<=_�NV�F �G �zÓÔÕ� KRS-788HV (¶��µÖ5,Öu 47.5g,×­×Ø 9~12V,×Ø 10.8V�1X'�tH:10.0 kgÙcm)_�'(g 12�ç¦�F �G ���×KD�ðÚÛ!9ÛX�F �G 

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_ 0 deg Þ 90 deg Þ 0 deg +ßI��8£_d�$�,g 13�ç¦�XCYSZ¶µ�9N&�´Âï[V�(g 145d�14 Operating Time Setting 0.178 s (Speed-7)_ 90 degrees ��×Kö÷9¢�µ�¹V���,�g 155d�14 Operating Time Setting 0.096 s (Speed-3)_ 90 degrees ����àáâã_�'�¾_ 250fps,0.02 s È�Û!�(g 165�ä��_�J,g 16(a)5,¢�µ�¹�1X'K

� � � � � (a)� � � � � � � � � (b)� � �

� � � � � � � � � � (c) � � Fig.11 Servo-motor: KRS-788HV

Fig.12 Example of high speed camera measurement, Operating Time setting: 0.096 s (Speed-3), Angle Setting: 90 degrees, Measured actual max. angle: 26 degrees.

Fig.13 High speed camera measurement and analysis of dynamic characteristics of a servo-motor: Example of Setting Operation Time 0.096 s (Speed-3) of servo-motor for running between 0 and 90 degrees .

Page 7: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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- 35 -

t=0.00s t=0.02s t=0.04s t=0.06s t=0.08s

t=0.10s t=0.12s t=0.14s t=0.16s t=0.178s

t=0.18s t=0.20s t=0.22s t=0.24s t=0.26s

t=0.28s t=0.30s t=0.32 s t=0.34s t=0.36s

t=0.38s t=0.40s

Fig.14 Example of high speed camera measurement of dynamic characteristics of a servo-motor, Operating Time setting: 0.178 s (Speed-7), Angle Setting: 90 degrees, Measured actual max. angle: 61 degrees.

� (0) t=0.00s (1) t=0.02s (2) t=0.04s (3) t=0.06s� (4) t=0.08s (5) t=0.10s

(6) t=0.12s (7) t=0.14s� (8) t=0.16s (9) t=0.18s (10)t=0.20s (11) t=0.22s Fig.15 Example of high speed camera measurement of dynamic characteristics of a servo-motor, Operating Time setting: 0.096 s (Speed-3), Angle Setting: 90 degrees, Measured actual max. angle: 26 degrees.

ö÷ 90D�d�14Àíå�µ ��Speed�+d�14�üÖ�6�,g 16(b)5Kö÷ 90D�d�14Àíå�µ ��Speed�+w�d�K�üÖ�6�,g 16(c)5Kö÷ 90 D�d�14Àíå�µ ��Speed�+w�d�KCD�üÖ�6�9!*(g 16����d�14Time Setting (Speed) ��Ö!õ$&¡�,zæÐ�5F ��d�14 Operating Time5Á�,�×KCD5�@�?'5I_�'!,Time Setting å�µ � (Speed)� ! 12 çJõ$&

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Page 8: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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Page 9: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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� (10) t=0.20 s (12) t=0.24 s (14) t=0.28 s� � (16) t=0.32 s (18) t=0.36 s (20) t=0.40 s (22) t=0.44 s (24) t=0.48 s � Nearly State 1� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State 2

(26) t=0.52 s (28) t=0.56 s (30) t=0.60 s (32) t=0.64 s (34) t=0.68 s� � (36) t=0.72 s (38) t=0.76 s � � (40) t=0.80 s � � � � � � � � � � � � � � � � � � � � � � � � Nearly State 3� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State4

(42) t=0.84 s (44) t=0.88 s� � (46) t=0.92 s (48) t=0.96 s� � (50) t=1.00 s (52) t=1.04 s (54) t=1.08 s � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State 1 � Fig.17 Moves of legs in the air for NANBA walk of GENBE No.4-2007 with Operating Time ( Speed) : 10 ( 2 steps).

(9) t=0.18 s (11) t=0.22 s (13) t=0.26 s� (15) t=0.30 s (17) t=0.34 s (19) t=0.38 s� (21) t=0.42 s (23) t=0.46 sNearly State 1 � � � � � � � � � � � Nearly State 2� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly

(25) t=0.50 s (27) t=0.54 s (29) t=0.58 s (31) t=0.62 s (33) t=0.66 s � (35) t=0.70 s (37) t=0.74 s� (39) t=0.78 sState 3� � � � � � � � � � � � � Nearly State 4� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State 1 Fig.18 Moves of legs in the air for NANBA walk of GENBE No.4-2007 with Operating Time ( Speed) : 7� (2 steps).

� t=0.00s t=0.02s t=0.04s t=0.06 s � t=0.08s t=0.10s� � � � t=0.12s t=0.14s � t=0.16s � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � Nearly State 1� � � � � � � � � � Nearly State 2

� t=0.18s t=0.20s t=0.22s� � � � t=0.24s � t=0.26s t=0.28s t=0.30s t=0.32s t=0.34s � Nearly State 3� � � � � � � � � � Nearly State4 Fig.19 Moves of legs in the air for NANBA walk of GENBE No.4-2007 with Operating Time ( Speed) : 3&4 ( 2 steps).

Page 10: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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- 38 -

� � (a) Nearly State 1 ( t=0.28 s) (b) Nearly State 2 ( t=0.44 s )� � (c) Nearly State 3 ( t=0.68 s ) (d ) Nearly State 4 ( t=0.84 s )

Fig.20 Actual biped robot movement based on transions from STATE to STATE in program with Operating Time ( Speed) : 10 (250 fps).

� � � (a) Nearly State 1 (t=0.20s) (b) Nearly State 2 (t=0.30s)� (c) Nearly State 3 (t=0.48s) (d ) Nearly State 4 (t=0.66s)

Fig.21 Actual biped robot movement based on transions from STATE to STATE in program with Operating Time ( Speed) : 7 (250 fps).

(a) Nearly State 1 ( t=0.12 s) (b) Nearly State 2 ( t=0.16 s )� � (c) Nearly State 3 ( t=0.24 s ) (d ) Nearly State 4 ( t=0.28 s )

Fig.22 Actual biped robot movement based on transions from STATE to STATE in program with Operating Time ( Speed): 3- 4 (250 fps).

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Page 11: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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0.000 [s] 0.104 [s] 0.284 [s] � Fig.23 Measurement of � pitch speed vs Operating Time Setting (Speed 7) of Servo- motors.�

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Fig.26 Measurement of Forward Leaning Angle vs. Operating Time Setting of Servo-motors.�

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Fig.28 Measurement of Stride vs. Operating Time Setting of Servomotors.�

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Page 12: 紀要18号 2008 論文 1 M川副-別刷 - KAWAZOE-LAB · “4«‹/ -›fiflY˚-°–„†@‡°–„·JY˚ „“ 8˚µ¶•‚„–”»’ - 33 - (1) t = 0.000 s (3) t =

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- 40 -�

(0) 0 mm (1) 115 mm (2) 110 mm� (3) 79 mm � � � � (a) Operating Time setting (Speed) 10

(0) 0mm� � (1) 134 mm (2) 102 mm (3) 119 mm (b) Operating Time setting (Speed) 7

(0) 0 mm (1) 98 mm (2) 99 mm (3) 81 mm (c) Operating Time setting (Speed) 3-4

� � � � � � � Fig.30 Example of measured Strides vs. Operating Time Setting. y. �� æ � p@�,ª4¨¬/²U����¨,²U³

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