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RoMeLaROBOTICS & MECHANISMS LABORATORY
From Odin to DARwIn:Biologically Inspired Mobile Robots Developed at RoMeLa, 2004-2008
Dr. Dennis W. Hong
Director of RoMeLa: Robotics & Mechanisms Laboratory Associate Professor, Mechanical Engineering, Virginia Tech
May 21, 2009
RoMeLaROBOTICS & MECHANISMS LABORATORY
Dr. Dennis W. Hong
From Odin to DARwIn:Biologically Inspired Mobile Robots Developed at RoMeLa, 2004-2008
Director of RoMeLa: Robotics & Mechanisms Laboratory Associate Professor, Mechanical Engineering, Virginia Tech
May 21, 2009
RoMeLaROBOTICS & MECHANISMS LABORATORY
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
LaeoR MROBOTICS & MECHANISMS LAB
http://www.me.vt.edu/romela
STriDER:Self-excitedTripedalDynamicExperimentalRobot
RoMeLaROBOTICS & MECHANISMS LABORATORY
?A robot with three legs...
How does it walk?
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: Legged Locomotion Inspired by Nature?
Alien robot from the game Half-Life2® by Valve Co.
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: Fictional Robots in Science Fiction...
STriDER does NOT move like this!
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: Self-excited Tripedal Dynamic Experimental Robot
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: The Tripedal Gait
starting posture CG shift falling over
leg swing and... ...catching fall reset posture
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: Changing Directions
Foot of stance leg
Foot of swing leg
Foot steps
Leg swing path
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: Self-excited Tripedal Dynamic Experimental Robot
Locomotion Strategy• Long range locomotion: launch and land• Short range locomotion: tripedal gait• Position & orientation: parallel mechanism
Advantage• Simple kinematic structure• Simple control• Energy efficient• Inherently stable (camera tripod)• Lightweight• Tall - sensor deployment
Tall height of the robot aids in the deployment of sensors at a high position
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: Mechanical Design
Hip abductor (joint)
Hip rotator (joint)
Hip (link)
Pelvis (link)
Hip flexure (joint)
Thigh (link)
Knee (joint)
Shank (link)
Body (link)
Foot
Stance leg (right)
Swing leg
Stance leg (left)Knee Joint
Hip Joint
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: Experiments & Dynamic Simulation
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: Trifolium Curve Abductor Joint Aligning Mechanism
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: STriDER Jr.
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER on the Discovery Channel
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: Self-excited Tripedal Dynamic Experimental Robot
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
STriDER: Self-excited Tripedal Dynamic Experimental Robot
CLIMBeR:Cable-suspendedLimbedIntelligentMatchingBehaviorRobot
RoMeLaROBOTICS & MECHANISMS LABORATORY
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
CLIMBeR: Cable-suspended Limbed Intelligent Matching Behavior Robot
Matching Behavior for Climbing
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
CLIMBeR: Cable-suspended Limbed Intelligent Matching Behavior Robot
T3
X
Y
Z
C1
C3
uN1
O
FO
MO
C2
uN2
!C"
!C#FC1!
FC2"
FC2#
FC2!
FC1"
FC1#
Optimal Posture for Stability
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
CLIMBeR: Cable-suspended Limbed Intelligent Matching Behavior Robot
Static Stability and Friction Constraint
XY
Z
e”b
e”g
e”a
e”b
e”g
e”a
O
C1
C2
C3
u”N1
u”N2
u”C3
r”C1r”C2
r”C3M”O
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
CLIMBeR: Cable-suspended Limbed Intelligent Matching Behavior Robot
.
RAPHaEL:RoboticAirPoweredHand withElasticLigaments
RoMeLaROBOTICS & MECHANISMS LABORATORY
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
RAPHaEL: Robotic Air Powered Hand with Elastic Ligaments
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
RAPHaEL: Robotic Air Powered Hand with Elastic Ligaments
NI CompactDAQ
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
RAPHaEL: Robotic Air Powered Hand with Elastic Ligaments
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
RAPHaEL: Robotic Air Powered Hand with Elastic Ligaments
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
RAPHaEL: Robotic Air Powered Hand with Elastic Ligaments
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
RAPHaEL: Robotic Air Powered Hand with Elastic Ligaments
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
RAPHaEL: Robotic Air Powered Hand with Elastic Ligaments
May 5, 2009—As far as robot dexterity goes, RAPHaEL may just have the upper hand.
The air-powered machine, created by undergraduate students at Virginia Tech's Robotics and Mechanisms Laboratory, can gently grasp a raw egg as successfully as the machine holds a heavy can of food—and is flexible enough for sign language.
RAPHaEL (Robotic Air-Powered Hand with Elastic Ligaments) is connected to a compressed air tank. An operator controls the air pressure to manipulate the fingers.
But what makes RAPHaEL unique is the students' decision not to control each finger joint individually but instead use one actuator, or motion activator, to move all of a finger's joints.
"It's a very interesting and novel [method] of actuating fingers in a very simple, elegant, and low-cost way," said faculty adviser and lab director Dennis Hong.
The lightweight mechanism—which won first place in the 2008-09 Compressed Air and Gas Institute's Innovation Awards Contest—may someday lend a hand to sign language programs as well as prosthetics design and other areas of scientific research, Hong added.
—Christine Dell'Amore
Photograph courtesy Robotics and Mechanisms Laboratory, Virginia Tech
MARS:Multi-AppendageRoboticSystem
RoMeLaROBOTICS & MECHANISMS LABORATORY
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
MARS: Multi-Appendage Robotic System
AWIMR:Autonomous Walking Insp. & Maint. Robot
LEMUR I:Legged Excursion Mechanical Utility Rover
LEMUR II aa.k.a “Liia”
LEMUR II ba.k.a. “Libby”
MARS: Multi Appendage Robotic SystemRoMeLa’s hexapod research platform for collaboration with NASA JPL on LEMUR class robots
Gait synthesis for optimal manipulation wrench spaceMulti-contact force distribution for climbingWalking in zero-G environmentAdaptive hexapod gait plannerAutonomous inspection and maintenanceSearch and rescue (RoboRescue 2007)
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
MARS: Adaptive Gait Planner
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
MARS: Mobility Study in Coastal Terrain
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
MARS: Wrench Space Analysis
The zero force moment space for a three-point contact
Analysis of the end-effector wrench space for multi-limbed robots with dry-adhesive feet
Contact force distribution with dry adhesive feet for the LEMUR adaptive gait planner
How can it walk in Zero-G?
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
MARS: MARS Types!
DARwIn:DynamicAnthropomorphicRobotwithIntelligence
RoMeLaROBOTICS & MECHANISMS LABORATORY
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn 0 (2004): A Design Study
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn 1 (2005): Generating Motion
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn 1 (2005): Generating Motion
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn 1 (2005): Generating Motion
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn 2a (2006): Adding Intelligence
21+2 DOF432 mm3.6 kgIMU
IEEE1394 vision
PC104+Pentium M 1.4GHz 1GBLabView RTLi-Poly 17.2V
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn 2a (2006): Adding Intelligence
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn 2a (2006): Adding Intelligence
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn 2b (2007): Getting ready for RoboCup!
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn on the Cover of a Magazine: “America’s Hopes are Riding on DARwIn!”
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Keynote at NI Week 2007: Soccer Demo
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn on the Discovery Channel: DARwIn can Read!
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARwIn: RoboCup 2008
Image SensorsHigh Dynamic Range (HDR) CMOS768 x 506 Image Array100 db Dynamic Range
DSPAnalog Device ADSP-BF561Dual Core A, B (600 MHz + 600MHz)
Frame Rate : 30/60 fps ( Image In./Out.)Color Analog video output (NTSC or PAL)Voice Warning FunctionInterface
USB 2.0, UART , RS485, CAN 2.0, SPI
Input Power : DC 8 ~ 45VTemperature Range : -45 ~ 85CSIize
Main Board : 70 mm x 55 mmCamera Board : 40mm x 28 mm
VT-CAM: Programable miniature WDR camera with dual-core DSP
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Whole Skin Locomotion:
RoMeLaROBOTICS & MECHANISMS LABORATORY
Inspired byAmeoboidMotilityMechanism
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Whole Skin Locomotion: Can we make a robot that moves like an amoeba?
Locomotion of single celled organisms:flagella, cilia, or pseudopods
Inspired by Biology
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Whole Skin Locomotion: How does an amoeba move?
Uroid
EndoplasmEctoplasm Hyaline cap
Pseudopod
Cytoplasmic Streaming
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Whole Skin Locomotion: Inspired by amoeboid motility mechanism
•Elongated toroid which turns itself inside out •Topology & overall motion of cytoplasmic streaming of amoeba•WSL: Entire surface is used for locomotion•Not a snake or inchworm type motion•A new class of mechanism that generates an everting motion
from expanding/contracting motion of actuators
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Whole Skin Locomotion: Application areas
Squeeze under collapsed ceiling Move in confined spaces, between obstacles
• Search-and-rescue robots: traverse over, under and between rubble
• Medical applications: robotic endoscopes where a robot needs to maneuver itself into tight spaces
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Whole Skin Locomotion: Actuation models
Elastic Skin with Contracting / Expanding Rings
By applying the biological theories of amoeboid motility mechanisms...
•Rear Contractile Rings with Concentric Solid Tube (CST)•Frontal Expansile Rings with CST•Wave Contractile/Expansile Rings with CST•Rear Skin Contraction with Fluid Filled Toroid (FFT)
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Whole Skin Locomotion: Experiment with Pre-Tensioned Elastic Skin FFT
Construction State of low potential energy State of high potential energy
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Whole Skin Locomotion: Continuum Model
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Whole Skin Locomotion: Alternate mechanisms
Rigid links with revolute joints - Kaleidocycle
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Whole Skin Locomotion: Feasibility Experiments
ChIMERA:ChemicallyInducedMotionEvertingRoboticAmoeba
RoMeLaROBOTICS & MECHANISMS LABORATORY
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
ChIMERA: Chemically Induced Motion Everting Robotic Amoeba
Skin swells, release stressEntropic forces recover stress
Auxetic ribs compress skin as force booster for hole penetration
Skin sticks to ground, but not inner structure
Variational stress causes skin rotation around toroidal fluid body
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
ChIMERA: Chemically Induced Motion Everting Robotic Amoeba
HyDRAS:HyperDegrees-of-freedomRoboticArticulatedSerpentine
RoMeLaROBOTICS & MECHANISMS LABORATORY
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
HyDRAS: Hyper Degrees-of-freedom Robotic Articulated Serpentine
A robot for inspection, maintenance, and construction work on scaffolding
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
CIRCA: Climbing Inspection Robot with Compressed Air
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
HyDRAS: Hyper Degrees-of-freedom Robotic Articulated Serpentine
β4ω
2ω4x
21, xx3z
2z
4z
31 , xz
2
34
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
HyDRAS-arm: Hyper-redundant Discrete Robotic Articulated Serpentine
IMPASS:IntelligentMobilityPlatformActuatedSpokeSystem
RoMeLaROBOTICS & MECHANISMS LABORATORY
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
IMPASS: Intelligent Mobility Platform with Active Spoke System
(a) Climbing up steps up to 3.4 times its nominal height
(d) Stepping over obstacles and crossing over water
(b) Staying level or maintaining pitch and roll on inclines
(c) Terrain adaptation, multiple contacts w/ surface
NI-IMAQ
Simulation
Simulation
IMPASS
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARPA Urban Challenge:Team: Victor TangoVehicle: “Odin”
RoMeLaROBOTICS & MECHANISMS LABORATORY
DARPA Urban Challenge: Team Victor Tango, Vehicle Odin for autonomous urban navigation
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
DARPA Urban Challenge: Team Victor Tango, Vehicle Odin for autonomous urban navigation
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
1st PlaceTartan Racing$2,000,000
2nd PlaceStanford Racing Team
$1,000,000
3rd PlaceVictorTango$500,000
: Third Place with $500,000 Award!
Team VictorTango
“ROBOT EVOLUTION BY INTELLIGENT DESIGN”
RoMeLa
Simulate
Accelerated Development
Prototype Deploy
RoMeLaROBOTICS & MECHANISMS LABORATORY
From Odin to DARwIn2004-2008
Blind Driver Challenge: Development of a Semi-Autonomous vehicle Operable by the Visually Impaired
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