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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Legged Locomotion• Quick perspective on motors and gearing• Overview of interim design reports• Static stability of legged locomotions• Static walking robots• Dynamic walking• Legged locomotion in space flight
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Chariot Wheel Suspension (JSC)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Chariot Gearing System (JSC)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Good Things Seen in Design Review• Name/acronym for rover• Explicit discussion of lunar vs. Earth rover• Trades on wheel diameter/width• Trades on 4 vs. 6 wheels• Wheel design details• Static and quasi-static stability• Power budgeting and battery requirements• Slope and turning stability analysis• Systems engineering (e.g., requirements, WBS)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Things I’d like to see, but didn’t (yet)• Structure detail• Mass estimates (falling within limit with margin)• Center of gravity• Detailed overall CAD• Suspension dynamics• Alternative seat placement options• “Baseball card” single-slide summary• Complete crew systems design (e.g., ingress/
egress aids, restraints, controls, displays)• Innovation?
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Things I’d Prefer Not to See• 3D plots for monotonic functions• Plots with unlabeled trend lines• Fonts too small to be read• Misspelled/misused “Ackermann”• Misspelled words in general
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Beyond the Scope…• Umbilical handling is part of the BioBot package,
which is payload, not rover – you need to allocate deck space to BioBot package and crew seat(s) and interfaces
•
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Legged Stability• Define the support region as the convex
polyhedron formed by supporting leg tips (“feet”)• System is statically stable if gravitational force
vector from CG passes through stability region
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Wave Gait
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Wave Gait
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Wave Gait
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Wave Gait
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RHex - A Simple “Walking” Robot (CMU)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RHEX Video
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Frame-Walkers• Two fixed sets of legs creating fixed stability
regions• Legs move past each other and keep CG in stable
region• Can steer by rotating frames with respect to each
other
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Dante II Repelling Robot (CMU)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
AMBLER Characteristics
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
AMBLER Walking Gait
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
AMBLER Mechanisms
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
AMBLER Maintaining Even Orientation
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Rappelling Robots - Free-Body Diagram
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Leg Arrangement for Rappelling
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LEMUR (JPL)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LEMUR Leg Mechanism
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LEMUR II
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LEMUR II Walking Gait (Unstable)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LEMUR II Walking Gait (stable)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Leg-Wheel Hybrid System (MEL)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SPIDER Prototype (JSC)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SPIDER (JSC)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SPIDER Leg Articulation
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Honda P2 and P3
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Walking Truck (GM - 1968)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATHLETE (JPL)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATHLETE in Action
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATHLETE With Larger Legs
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Desert RATS 2008 - Moses Lake, WA
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Dynamic Stability for Legged Robots• Uses reaction forces on ground to maintain
orientation• Similar to trotting and running gaits for animals
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Hopping Robot Concept (Marc Raibert)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Hopping Robot Motion Visualization
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
2D Hopping Robot (Marc Raibert)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Spring Flamingo (MIT)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Quadruped Robot (Mark Raibert)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Big Dog (Boston Dynamics)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATLAS (Boston Dynamics)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
DARPA Robotics Challenge Fails
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
DARPA Robotics Challenge Clips
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Next-Generation ATLAS Clips
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Parcour Atlas (Boston Dynamic)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Valkerie (NASA JSC)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Valkyrie Overview Video
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Robonaut 2 on ISS
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Robonaut 2 Legs
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Project M (NASA JSC)
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Robonaut in Space: The Vision
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Legged Locomotion Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Robonaut in Space: the Reality
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