Locomotion Control Experiments in Cockroach Robot
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LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICAL MUSCLES by Jongung Choi Submitted in partial fulfillment of the requirements For the degree of Doctor of Philosophy Thesis Advisor: Dr. Roger D. Quinn Department of Mechanical and Aerospace Engineering CASE WESTERN RESERVE UNIVERSITY August, 2005 Copyright © 2005 by Jongung Choi All rights reserved CASE WESTERN RESERVE UNIVERSITY SCHOOL OF GRADUATE STUDIES We hereby approve the dissertation of Jongung Choi candidate for the Doctor of Philosophy degree *. Committee Chair: ________________________________________________ Dr. Roger D. Quinn Dissertation Advisor Professor, Department of Mechanical and Aerospace Engineering Committee: _____________________________________________________ Dr. Joseph M. Mansour Professor, Department of Mechanical and Aerospace Engineering Committee: _____________________________________________________ Dr. Roy E. Ritzmann Professor, Department of Biology Committee: _____________________________________________________ Dr. Robert F. Kirsch Associate Professor, Department of Biomedical Engineering August, 2005 *We also certify that written approval has been obtained for any proprietary material contained therein. Waiver of Reproduction Rights To HyeYoung Jeon Have I not commanded you? Be strong and courageous. Do not be terrified: do not be discouraged, for the LORD your God will be with you wherever you go. Joshua 1:9 Table of Contents Table of Contents ............................................................................................................. vi List of Tables .................................................................................................................... ix List of Figures.................................................................................................................... x Acknowledgements ....................................................................................................... xvii Abstract............................................................................................................................ xix Chapter 1 ........................................................................................................................... 1 Introduction....................................................................................................................... 1 1.1 Cockroach-Inspired Robots .................................................................... 2 1.2 Dissertation Outline ................................................................................ 4 References........................................................................................................... 7 Chapter 2 ........................................................................................................................... 8 Background ....................................................................................................................... 8 2.1 Insect-inspired robots.............................................................................. 8 References......................................................................................................... 14 Chapter 3 ......................................................................................................................... 16 Leg Control...................................................................................................................... 16 3.1 Workspace............................................................................................. 16 3.1.1 Workspace of Front Leg ................................................................... 19 3.1.2 Workspace of Middle Leg ................................................................ 23 3.1.3 Workspace of Rear Leg .................................................................... 26 3.2 Inverse Kinematics................................................................................ 29 3.2.1 Modified Moore-Penrose Method..................................................... 29 3.2.2 Inverse Kinematics Solution............................................................. 32 3.3 Neural Network..................................................................................... 36 3.4 Training of Neural Network.................................................................. 39 3.5 Validating Neural Networks ................................................................. 42 3.5.1 Design of the Desired Foot Path ....................................................... 43 3.5.2 Comparison of Desired and Actual Paths using Neural Networks... 45 3.5.3 Discussion......................................................................................... 48 References......................................................................................................... 49 Chapter 4 ......................................................................................................................... 50 Coordination of Legs ...................................................................................................... 50 4.1 Pre-Planned Tripod Gait....................................................................... 50 4.2 Cruse Control for Gait Generation........................................................ 52 References......................................................................................................... 57 Chapter 5 ......................................................................................................................... 59 Dynamic Simulation of Robot V.................................................................................... 59 5.1 Mechanics of Robot V .......................................................................... 60 5.2 Braided Pneumatic Actuator................................................................. 63 5.2.1 McKibben vs. Festo Actuator ........................................................... 63 5.2.2 Testing of Festo Actuator Properties ................................................ 65 5.2.3 Modeling of Festo Actuators ............................................................ 69 5.3 Valve System of Robot V ..................................................................... 72 vi 5.3.1 Inlet and Outlet Valves ........................................................................ 73 5.3.2 Modeling of Valve ............................................................................... 75 5.4 Applied Joint Torque ............................................................................ 76 5.5 Dynamic Simulation of Robot V .......................................................... 78 5.5.1 Flow Chart of Simulation.................................................................. 79 5.5.2 File System of Simulation................................................................. 82 References......................................................................................................... 86 Chapter 6 ......................................................................................................................... 88 Metrics ............................................................................................................................. 88 6.1 Joint Angle Position Error .................................................................... 88 6.2 Foot Position ......................................................................................... 91 6.3 Velocity................................................................................................. 93 6.4 Body motions during walking............................................................... 93 References......................................................................................................... 93 Chapter 7 ......................................................................................................................... 94 Simulation Results .......................................................................................................... 94 7.1 Air and Ground Walking with Pre-Planned Gait.................................. 94 7.1.1 Joint Angles for Air and Ground Walking with Pre-Planned Gait ... 94 7.1.2 Foot Paths and Body Bounce using Pre-Planned Gait...................... 98 7.2 Air and Ground Walking with Cruse Gait Control............................. 101 7.2.1 Joint Angles for Air and Ground Walking using Cruse Controller 101 7.2.2 Foot Path and Body Bounce using Cruse Controller...................... 105 7.3 Conclusions......................................................................................... 107 References....................................................................................................... 108 Chapter 8 .......................................................................................................................110 Implementation into Robot V Hardware.................................................................... 110 8.1 Robot V Sensors ................................................................................. 110 8.1.1 Joint Angle Sensor .......................................................................... 111 8.1.2 Pressure sensor................................................................................ 112 8.2 Robot V Hardware Setup.................................................................... 112 8.3 Initial Implementation of Leg Control................................................ 114 8.3.1 Initial implementation