REALIZATION OF STABLE BIPED WALKING ON PUBLIC ROAD WITH NEW BIPED FOOT SYSTEM ADAPTABLE TO

UNEVEN TERRAIN實現在室外道路用雙足穩定行走 ,且適用於不平坦地形的新足部機構

學生 : 楊斯越班級 :碩研電機一甲學號 :MA320111

指導教授 :謝銘原

Outline

• Abstract(摘要 )

• Introduction(簡介 )

• Foot systen design(腳步機構設計 )

• Experimental tests and consideration(實驗測試與思考 )

• Conclusions and future work(結論與未來工作 )

• References(參考文獻 )

AbstracTo date,many control methods have been researched on the assumption that the soles of a biped walking robot contact the ground as four points.It is difficult for almost all biped robots to maintain four point contact on uneven terrain because they have rigid and flat soles.It means that the biped robots can lose their balance.To solve this kind of problem, not only stability controls but also foot mechanisms should be studied.So,we developed a foot system,WS-1 that can maintain four point contact on uneven terrain, different from conventional foot systems.However,since WS-1 has some problems,an improved foot system,WS-1R is developed.Through hardware experiments, the effectiveness of WS-1R is confirmed.

Introduction

Rigid and flat sole

支撐面

Introduction

Proposed foot system

Foot system desing

長釘

腿

腳

解鎖 鎖定

Operation principle of a new biped foot system

Foot systen design

長釘

凸輪 塊

隨動器

Cam-type locking mechanism

Foot systen design長釘

Waseda Shoes – No.1

Waseda Shoes - No.1

微動開關

電磁閥

摩擦材料

Detailed drawing of locking mechanism WS-1

Problems of WS-1 and Solutions

拉伸彈簧

Arrangement of tension springs

Foot systen design

電磁閥

摩擦材料

腳踏開關

Detailed drawing of locking mechanism WS-1R

氯丁乙二烯橡膠

Foot systen design

Waseda Shoes - No.1 Refined Photograph

Foot systen design

Waseda Shoes - No.1 Refined Assembly drawing

Size 200×294×65mm

Weight(重量 )

1850 g

Movable Range on z axis (在 z軸可動範圍 )

20 mm

Drive System of Actuator (驅動器系統 )

Push-pull Solenoid x4 (推拉電磁伐 )

Foot systen design

WS-1R Specifications

Experimental tests and consideration

WL-16RII mounted on WS-1R

Experimental tests and consideration

Walking experiments on the 20mm board

Experimental tests and consideration

WS-1R沒有操作值WS-1R有操作值

參考值

ZMP trajectories along x axis on the 20mm board. The robot fell down at the X-marked-position.

Experimental tests and consideration

參考值WS-1R沒有操作值WS-1R有操作值

ZMP trajectories along y axis on the 20mm board. The robot fell down at the X-marked-position.

Experimental tests and consideration

Walking experiments on uneven surface

Experimental tests and consideration

ZMP trajectories on uneven surface

Experimental tests and consideration

Walking experiment on the public road in Fukuoka Special Zones for Robot Development and Test

Experimental tests and consideration

ZMP trajectories along x axis on an uneven surface.The robot fell down at the X-marked-position.

硬的平底鞋WS-1R與操作

參考

Experimental tests and consideration

ZMP trajectories along y axis on an uneven surface.The robot fell down at the X-marked-position.

Conclusions and future workWe have proposed a new foot system, WS-1R, which can maintain four point contact on a real uneven terrain. Various experiments using WL-16RII mounted on WS-1R were conducted on uneven terrain.First, forward walking was realized on the plastic board of 20 mm.Second, it was confirmed that WS-1R is also effective on an inclined plane with a height of 20 mm or less.Third, walking experiments are achieved on the public road in the Fukuoka Special Zones for Robot Development and Test.The effectiveness of this foot system was confirmed through experiments.Our next goal is to combine this new foot system with a stability control method and conduct further walking experiments on a bumpier terrain and in real environments such as in homes or streets. Moreover, to realize a multipurpose bipedal locomotor sufficient for practical use, we will also continue to study more intelligent walking control methods that are able to adapt to various environments.

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