Design Issues for Hexapod Walking Robots
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Kinematic Modeling of a Rhex-Type Robot Using a Neural Network
Kinematic Modeling of a RHex-type Robot Using a Neural Network Mario Harpera, James Paceb, Nikhil Guptab, Camilo Ordonezb, and Emmanuel G. Collins, Jr.b aDepartment of Scientific Computing, Florida State University, Tallahassee, FL, USA bDepartment of Mechanical Engineering, Florida A&M - Florida State University, College of Engineering, Tallahassee, FL, USA ABSTRACT Motion planning for legged machines such as RHex-type robots is far less developed than motion planning for wheeled vehicles. One of the main reasons for this is the lack of kinematic and dynamic models for such platforms. Physics based models are difficult to develop for legged robots due to the difficulty of modeling the robot-terrain interaction and their overall complexity. This paper presents a data driven approach in developing a kinematic model for the X-RHex Lite (XRL) platform. The methodology utilizes a feed-forward neural network to relate gait parameters to vehicle velocities. Keywords: Legged Robots, Kinematic Modeling, Neural Network 1. INTRODUCTION The motion of a legged vehicle is governed by the gait it uses to move. Stable gaits can provide significantly different speeds and types of motion. The goal of this paper is to use a neural network to relate the parameters that define the gait an X-RHex Lite (XRL) robot uses to move to angular, forward and lateral velocities. This is a critical step in developing a motion planner for a legged robot. The approach taken in this paper is very similar to approaches taken to learn forward predictive models for skid-steered robots. For example, this approach was used to learn a forward predictive model for the Crusher UGV (Unmanned Ground Vehicle).1 RHex-type robot may be viewed as a special case of skid-steered vehicle as their rotating C-legs are always pointed in the same direction. -
Annual Report 2014 OUR VISION
AMOS Centre for Autonomous Marine Operations and Systems Annual Report 2014 Annual Report OUR VISION To establish a world-leading research centre for autonomous marine operations and systems: To nourish a lively scientific heart in which fundamental knowledge is created through multidisciplinary theoretical, numerical, and experimental research within the knowledge fields of hydrodynamics, structural mechanics, guidance, navigation, and control. Cutting-edge inter-disciplinary research will provide the necessary bridge to realise high levels of autonomy for ships and ocean structures, unmanned vehicles, and marine operations and to address the challenges associated with greener and safer maritime transport, monitoring and surveillance of the coast and oceans, offshore renewable energy, and oil and gas exploration and production in deep waters and Arctic waters. Editors: Annika Bremvåg and Thor I. Fossen Copyright AMOS, NTNU, 2014 www.ntnu.edu/amos AMOS • Annual Report 2014 Table of Contents Our Vision ........................................................................................................................................................................ 2 Director’s Report: Licence to Create............................................................................................................................. 4 Organization, Collaborators, and Facts and Figures 2014 ......................................................................................... 6 Presentation of New Affiliated Scientists................................................................................................................... -
Towards Pronking with a Hexapod Robot
Towards pronking with a hexapod robot Dave McMordie Department of Electrical Engineering McGill University, Montreal, Canada July, 2002 A thesis submitted to the Faculty of Graduate 5tudies and Research in partial fulfillment of the requirements of the degree Master of Engineering © Dave McMordie, 2002 National Library Bibliothèque nationale 1+1 of Canada du Canada Acquisitions and Acquisisitons et Bibliographie Services services bibliographiques 395 Wellington Street 395, rue Wellington Ottawa ON K1A DN4 Ottawa ON K1A DN4 Canada Canada Your file Votre référence ISBN: 0-612-85890-1 Our file Notre référence ISBN: 0-612-85890-1 The author has granted a non L'auteur a accordé une licence non exclusive licence allowing the exclusive permettant à la National Library of Canada to Bibliothèque nationale du Canada de reproduce, loan, distribute or sell reproduire, prêter, distribuer ou copies of this thesis in microform, vendre des copies de cette thèse sous paper or electronic formats. la forme de microfiche/film, de reproduction sur papier ou sur format électronique. The author retains ownership of the L'auteur conserve la propriété du copyright in this thesis. Neither the droit d'auteur qui protège cette thèse. thesis nor substantial extracts from it Ni la thèse ni des extraits substantiels may be printed or otherwise de celle-ci ne doivent être imprimés reproduced without the author's ou aturement reproduits sans son permission. autorisation. Canada Abstract RHex is a robotic hexapod with springy legs and just six actuated degrees of freedom. This work presents the development of a pronking gait for RHex, extending its efficiency and speed by exploiting its springy legs for hopping. -
Development of the Crew Dragon ECLSS
ICES-2020-333 Development of the Crew Dragon ECLSS Jason Silverman1, Andrew Irby2, and Theodore Agerton3 Space Exploration Technologies, Hawthorne, California, 90250 SpaceX designed the Crew Dragon spacecraft to be the safest ever flown and to restore the ability of the United States to launch astronauts. One of the key systems required for human flight is the Environmental Control and Life Support System (ECLSS), which was designed to work in concert with the spacesuit and spacecraft. The tight coupling of many subsystems combined with an emphasis on simplicity and fault tolerance created unique challenges and opportunities for the design team. During the development of the crew ECLSS, the Dragon 1 cargo spacecraft flew with a simple ECLSS for animals, providing an opportunity for technology development and the early characterization of system-level behavior. As the ECLSS design matured a series of tests were conducted, including with humans in a prototype capsule in November 2016, the Demo-1 test flight to the ISS in March 2019, and human-in-the-loop ground testing in the Demo-2 capsule in January 2020 before the same vehicle performs a crewed test flight. This paper describes the design and operations of the ECLSS, the development process, and the lessons learned. Nomenclature AC = air conditioning AQM = air quality monitor AVV = active vent valve CCiCap = Commercial Crew Integrated Capability CCtCap = Commercial Crew Transportation Capability CFD = computational fluid dynamics conops = concept of operations COPV = composite overwrapped -
Simple Muscle Models Regularize Motion in a Robotic Leg with Neurally-Based Step Generation
2007 IEEE International Conference on WeB9.1 Robotics and Automation Roma, Italy, 10-14 April 2007 Simple Muscle Models Regularize Motion in a Robotic Leg with Neurally-Based Step Generation Brandon L. Rutter, Member, IEEE, William A. Lewinger, Member, IEEE, Marcus Blümel, Ansgar Büschges, Roger D. Quinn Abstract— Robotic control systems inspired by animals are such systems can exhibit, and a corresponding limit to the enticing to the robot designer due to their promises of complexity of locomotion tasks they can solve. simplicity, elegance and robustness. While there has been Coordination between legs to produce gaits has been success in applying general and behaviorally-based knowledge successfully implemented [6, 7, 8, 11] using rules based on of biological systems to control, we are investigating the use of animal behavior [12]. Though these methods produce control based on known and hypothesized neural pathways in specific model animals. Neural motor systems in animals are coordination between legs, subsystems must coordinate the only meaningful in the context of their mechanical body, and motion within each leg. This has typically been done using the behavior of the system can be highly dependent on inverse kinematics [6, 11]. While this is conceptually nonlinear and dynamic properties of the mechanical part of the straightforward, dealing with dynamic environments and system. It is therefore reasonable to believe that to reproduce perturbations can be a matter of considerable effort. In behavior, the physical characteristics of the biological system addition, these methods require trigonometric and other must also be modeled or accounted for. In this paper we examine the performance of a robotic system with three types computations which are often beyond the capability of of muscle model: null, piecewise-constant, and linear. -
Commercial Orbital Transportation Services
National Aeronautics and Space Administration Commercial Orbital Transportation Services A New Era in Spaceflight NASA/SP-2014-617 Commercial Orbital Transportation Services A New Era in Spaceflight On the cover: Background photo: The terminator—the line separating the sunlit side of Earth from the side in darkness—marks the changeover between day and night on the ground. By establishing government-industry partnerships, the Commercial Orbital Transportation Services (COTS) program marked a change from the traditional way NASA had worked. Inset photos, right: The COTS program supported two U.S. companies in their efforts to design and build transportation systems to carry cargo to low-Earth orbit. (Top photo—Credit: SpaceX) SpaceX launched its Falcon 9 rocket on May 22, 2012, from Cape Canaveral, Florida. (Second photo) Three days later, the company successfully completed the mission that sent its Dragon spacecraft to the Station. (Third photo—Credit: NASA/Bill Ingalls) Orbital Sciences Corp. sent its Antares rocket on its test flight on April 21, 2013, from a new launchpad on Virginia’s eastern shore. Later that year, the second Antares lifted off with Orbital’s cargo capsule, (Fourth photo) the Cygnus, that berthed with the ISS on September 29, 2013. Both companies successfully proved the capability to deliver cargo to the International Space Station by U.S. commercial companies and began a new era of spaceflight. ISS photo, center left: Benefiting from the success of the partnerships is the International Space Station, pictured as seen by the last Space Shuttle crew that visited the orbiting laboratory (July 19, 2011). More photos of the ISS are featured on the first pages of each chapter. -
Design and Control of a Large Modular Robot Hexapod
Design and Control of a Large Modular Robot Hexapod Matt Martone CMU-RI-TR-19-79 November 22, 2019 The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh, PA Thesis Committee: Howie Choset, chair Matt Travers Aaron Johnson Julian Whitman Submitted in partial fulfillment of the requirements for the degree of Master of Science in Robotics. Copyright © 2019 Matt Martone. All rights reserved. To all my mentors: past and future iv Abstract Legged robotic systems have made great strides in recent years, but unlike wheeled robots, limbed locomotion does not scale well. Long legs demand huge torques, driving up actuator size and onboard battery mass. This relationship results in massive structures that lack the safety, portabil- ity, and controllability of their smaller limbed counterparts. Innovative transmission design paired with unconventional controller paradigms are the keys to breaking this trend. The Titan 6 project endeavors to build a set of self-sufficient modular joints unified by a novel control architecture to create a spiderlike robot with two-meter legs that is robust, field- repairable, and an order of magnitude lighter than similarly sized systems. This thesis explores how we transformed desired behaviors into a set of workable design constraints, discusses our prototypes in the context of the project and the field, describes how our controller leverages compliance to improve stability, and delves into the electromechanical designs for these modular actuators that enable Titan 6 to be both light and strong. v vi Acknowledgments This work was made possible by a huge group of people who taught and supported me throughout my graduate studies and my time at Carnegie Mellon as a whole. -
Japan Cargo Spacecraft Docks at ISS 18 September 2009
Japan cargo spacecraft docks at ISS 18 September 2009 It was the first time that astronauts operate a Canadian robotic arm at the ISS to dock a spacecraft at the station. The HTV carried 4.5 tonnes of supplies, including food and daily necessities for the six ISS crew, as well as materials for experiments, such as seeds for growing plants in space. The 10-metre (33-foot) long cylindrical vehicle, which cost 20 billion yen (217 million dollars), will soon unload the supplies. It will later take waste materials and return to Earth, burning up as it re-enters the atmosphere. Japan has spent 68 billion yen developing the vehicle, which could be modified in future to carry Japan's first cargo spacecraft arrived at the International humans. Space Station on Friday after astronauts aboard the station grabbed and docked it using a robotic arm. The docking came a week after the Japan Aerospace (c) 2009 AFP Exploration Agency (JAXA) launched the unmanned HTV transportation vehicle atop an H-2B rocket (in picture). Japan's first cargo spacecraft arrived at the International Space Station (ISS) on Friday after astronauts aboard the station grabbed and docked it using a robotic arm. The docking came a week after the Japan Aerospace Exploration Agency (JAXA) launched the unmanned HTV transportation vehicle atop an H-2B rocket. The HTV is Japan's first freighter spacecraft aiming for a share of space transport after the retirement of the US space shuttle fleet next year. "I'm so relieved because I was feeling the pressure and responsibility," Koji Yamanaka, the flight director in charge of the cargo mission, told reporters at Japan's Tsukuba space centre. -
Dynamically Diverse Legged Locomotion for Rough Terrain
Dynamically diverse legged locomotion for rough terrain The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Citation Byl, Katie, and Russ Tedrake. “Dynamically Diverse Legged Locomotion for Rough Terrain.” Proceedings of the 2009 IEEE International Conference on Robotics and Automation, Kobe International Conference Center, Kobe, Japan, May 12-17, 2009 1607-1608. © Copyright 2009 IEEE. As Published http://dx.doi.org/10.1109/ROBOT.2009.5152757 Publisher Institute of Electrical and Electronics Engineers Version Final published version Citable link http://hdl.handle.net/1721.1/64752 Terms of Use Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. 2009 IEEE International Conference on Robotics and Automation Kobe International Conference Center Kobe, Japan, May 12-17, 2009 Dynamically Diverse Legged Locomotion for Rough Terrain Katie Byl and Russ Tedrake Abstract— In this video, we demonstrate the effectiveness of which aim toward precise foot placement often traverse a kinodynamic planning strategy that allows a high-impedance terrain by using relatively slow, deliberate gaits [3], [4], [10], quadruped to operate across a variety of rough terrain. At one [8], [6]. In this video we demonstrate a control approach extreme, the robot can achieve precise foothold selection on intermittent terrain. More surprisingly, the same inherently- which can achieve both precise foot placement, as illustrated stiff robot can also execute highly dynamic and underactuated in Figure 1, and highly dynamic and fast motions, such as motions with high repeatability. -
Design of a Multi-Directional Variable Stiffness Leg for Dynamic Running
University of Pennsylvania ScholarlyCommons Departmental Papers (ESE) Department of Electrical & Systems Engineering 2007 DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING Kevin C. Galloway University of Pennsylvania, [email protected] Jonathan E. Clark Florida State University, [email protected] Daniel E. Koditschek University of Pennsylvania, [email protected] Follow this and additional works at: https://repository.upenn.edu/ese_papers Part of the Engineering Commons Recommended Citation Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek, "DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING", . January 2007. @inproceedings{ Galloway.07, Author = {Galloway, K.C. and Clark, J.E. and Koditschek, D.E.}, Title = {Design of a Multi-Directional Variable Stiffness Leg for Dynamic Runnings}, BookTitle = {ASME Int. Mech. Eng. Congress and Exposition}, Year = {2007}} This paper is posted at ScholarlyCommons. https://repository.upenn.edu/ese_papers/508 For more information, please contact [email protected]. DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING Abstract Recent developments in dynamic legged locomotion have focused on encoding a substantial component of leg intelligence into passive compliant mechanisms. One of the limitations of this approach is reduced adaptability: the final leg mechanism usually performs optimally for a small range of conditions (i.e. a certain robot weight, terrain, speed, gait, and so forth). For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a variable stiffness leg to tune the natural frequency of the system for effective gait control. In this paper, we present an overview of variable stiffness leg spring designs, and introduce a new approach specifically for autonomous dynamic legged locomotion. -
Espinsights the Global Space Activity Monitor
ESPInsights The Global Space Activity Monitor Issue 2 May–June 2019 CONTENTS FOCUS ..................................................................................................................... 1 European industrial leadership at stake ............................................................................ 1 SPACE POLICY AND PROGRAMMES .................................................................................... 2 EUROPE ................................................................................................................. 2 9th EU-ESA Space Council .......................................................................................... 2 Europe’s Martian ambitions take shape ......................................................................... 2 ESA’s advancements on Planetary Defence Systems ........................................................... 2 ESA prepares for rescuing Humans on Moon .................................................................... 3 ESA’s private partnerships ......................................................................................... 3 ESA’s international cooperation with Japan .................................................................... 3 New EU Parliament, new EU European Space Policy? ......................................................... 3 France reflects on its competitiveness and defence posture in space ...................................... 3 Germany joins consortium to support a European reusable rocket......................................... -
GUIDANCE, NAVIGATION, and CONTROL 2020 AAS PRESIDENT Carol S
GUIDANCE, NAVIGATION, AND CONTROL 2020 AAS PRESIDENT Carol S. Lane Cynergy LLC VICE PRESIDENT – PUBLICATIONS James V. McAdams KinetX Inc. EDITOR Jastesh Sud Lockheed Martin Space SERIES EDITOR Robert H. Jacobs Univelt, Incorporated Front Cover Illustration: Image: Checkpoint-Rehearsal-Movie-1024x720.gif Caption: “OSIRIS-REx Buzzes Sample Site Nightingale” Photo and Caption Credit: NASA/Goddard/University of Arizona Public Release Approval: Per multimedia guidelines from NASA Frontispiece Illustration: Image: NASA_Orion_EarthRise.jpg Caption: “Orion Primed for Deep Space Exploration” Photo Credit: NASA Public Release Approval: Per multimedia guidelines from NASA GUIDANCE, NAVIGATION, AND CONTROL 2020 Volume 172 ADVANCES IN THE ASTRONAUTICAL SCIENCES Edited by Jastesh Sud Proceedings of the 43rd AAS Rocky Mountain Section Guidance, Navigation and Control Conference held January 30 to February 5, 2020, Breckenridge, Colorado Published for the American Astronautical Society by Univelt, Incorporated, P.O. Box 28130, San Diego, California 92198 Web Site: http://www.univelt.com Copyright 2020 by AMERICAN ASTRONAUTICAL SOCIETY AAS Publications Office P.O. Box 28130 San Diego, California 92198 Affiliated with the American Association for the Advancement of Science Member of the International Astronautical Federation First Printing 2020 Library of Congress Card No. 57-43769 ISSN 0065-3438 ISBN 978-0-87703-669-2 (Hard Cover Plus CD ROM) ISBN 978-0-87703-670-8 (Digital Version) Published for the American Astronautical Society by Univelt, Incorporated, P.O. Box 28130, San Diego, California 92198 Web Site: http://www.univelt.com Printed and Bound in the U.S.A. FOREWORD HISTORICAL SUMMARY The annual American Astronautical Society Rocky Mountain Guidance, Navigation and Control Conference began as an informal exchange of ideas and reports of achievements among local guidance and control specialists.