03 Lab View 기반으로 개발된 독창적인 형태의 다양한 이동 로봇 Virginia Tech 기계공학과 Dennis W. Hong 교수

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


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


“ROBOT EVOLUTION BY INTELLIGENT DESIGN”

LaeoR MROBOTICS & MECHANISMS LAB

http://www.me.vt.edu/romela



STriDER:Self-excitedTripedalDynamicExperimentalRobot


?A robot with three legs...

How does it walk?


RoMeLa

STriDER: Legged Locomotion Inspired by Nature?

Alien robot from the game Half-Life2® by Valve Co.


RoMeLa

STriDER: Fictional Robots in Science Fiction...

STriDER does NOT move like this!


RoMeLa

STriDER: Self-excited Tripedal Dynamic Experimental Robot


RoMeLa

STriDER: The Tripedal Gait

starting posture CG shift falling over

leg swing and... ...catching fall reset posture


RoMeLa

STriDER: Changing Directions

Foot of stance leg

Foot of swing leg

Foot steps

Leg swing path


RoMeLa


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


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


RoMeLa

STriDER: Experiments & Dynamic Simulation


RoMeLa

STriDER: Trifolium Curve Abductor Joint Aligning Mechanism


RoMeLa

STriDER: STriDER Jr.


RoMeLa

STriDER on the Discovery Channel


RoMeLa



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CLIMBeR:Cable-suspendedLimbedIntelligentMatchingBehaviorRobot



RoMeLa

CLIMBeR: Cable-suspended Limbed Intelligent Matching Behavior Robot

Matching Behavior for Climbing


RoMeLa


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Optimal Posture for Stability


RoMeLa


Static Stability and Friction Constraint

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RAPHaEL:RoboticAirPoweredHand withElasticLigaments



RoMeLa

RAPHaEL: Robotic Air Powered Hand with Elastic Ligaments


RoMeLa


NI CompactDAQ


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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



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)


RoMeLa

MARS: Adaptive Gait Planner


RoMeLa

MARS: Mobility Study in Coastal Terrain


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?


RoMeLa

MARS: MARS Types!

DARwIn:DynamicAnthropomorphicRobotwithIntelligence



RoMeLa

DARwIn 0 (2004): A Design Study


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DARwIn 1 (2005): Generating Motion


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RoMeLa

DARwIn 2a (2006): Adding Intelligence

21+2 DOF432 mm3.6 kgIMU

IEEE1394 vision

PC104+Pentium M 1.4GHz 1GBLabView RTLi-Poly 17.2V


RoMeLa



RoMeLa



RoMeLa

DARwIn 2b (2007): Getting ready for RoboCup!


RoMeLa

DARwIn on the Cover of a Magazine: “America’s Hopes are Riding on DARwIn!”


RoMeLa

Keynote at NI Week 2007: Soccer Demo


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DARwIn on the Discovery Channel: DARwIn can Read!


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


RoMeLa

Whole Skin Locomotion:


Inspired byAmeoboidMotilityMechanism


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


RoMeLa

Whole Skin Locomotion: How does an amoeba move?

Uroid

EndoplasmEctoplasm Hyaline cap

Pseudopod

Cytoplasmic Streaming


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


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


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)


RoMeLa

Whole Skin Locomotion: Experiment with Pre-Tensioned Elastic Skin FFT

Construction State of low potential energy State of high potential energy


RoMeLa

Whole Skin Locomotion: Continuum Model


RoMeLa

Whole Skin Locomotion: Alternate mechanisms

Rigid links with revolute joints - Kaleidocycle


RoMeLa

Whole Skin Locomotion: Feasibility Experiments

ChIMERA:ChemicallyInducedMotionEvertingRoboticAmoeba



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


RoMeLa

ChIMERA: Chemically Induced Motion Everting Robotic Amoeba

HyDRAS:HyperDegrees-of-freedomRoboticArticulatedSerpentine



RoMeLa

HyDRAS: Hyper Degrees-of-freedom Robotic Articulated Serpentine

A robot for inspection, maintenance, and construction work on scaffolding


RoMeLa

CIRCA: Climbing Inspection Robot with Compressed Air


RoMeLa

HyDRAS: Hyper Degrees-of-freedom Robotic Articulated Serpentine

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RoMeLa

HyDRAS-arm: Hyper-redundant Discrete Robotic Articulated Serpentine

IMPASS:IntelligentMobilityPlatformActuatedSpokeSystem



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


RoMeLa

DARPA Urban Challenge:Team: Victor TangoVehicle: “Odin”


DARPA Urban Challenge: Team Victor Tango, Vehicle Odin for autonomous urban navigation


RoMeLa

DARPA Urban Challenge: Team Victor Tango, Vehicle Odin for autonomous urban navigation


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


RoMeLa

Simulate

Accelerated Development

Prototype Deploy


From Odin to DARwIn2004-2008

Blind Driver Challenge: Development of a Semi-Autonomous vehicle Operable by the Visually Impaired

Technology

03 Lab View 기반으로 개발된 독창적인 형태의 다양한 이동 로봇 Virginia Tech 기계공학과 Dennis W. Hong 교수