medm package for walking robot. general outline organized for any multi-legged robot organized for...
TRANSCRIPT
MEDM Package For Walking Robot
General Outline Organized for any multi-legged robot
Hexapod, Quadruped, Biped, … Explicit Dynamic Calculation Gait Planning
New algorithm for rhythmic gait Trajectory Planning
Optimal trajectory subject to maximum speed
respected to stable motion Graphical interface
Graphical gait showing
Over 2500 lines code
Organized simply to coordinate for any Walking Robot Compliance structure added
Linked to Simmechanic toolbox
Optimized trajectory added
Over 2500 lines code Minimum possible required codes added
All modules writing as function for providence
Organized for any walking robot Simply coordinating for a arbitrary walking robot structure:
• Add how many legs with arbitrary configuration• Replaced “D-H” recipes with new one “Direct Configuration” as become more user-friendly.
Dynamic
Kinematic
Dynamic
Method
Install coordinate frames
• Method
Explicit Dynamic formulation:
•
Based on Lagrangian
formulation:
Install coordinate
frames
Algorithm
Explicit Dynamic
3 10 1
m m
nnmTn
R LT
: Ci i
i i i
WEd L LEq Q
dt q q q
Install frame
Kinematic FormulaDirect output to LaTeX
0
cos cos sin cos sin cos sin sin cos cos sin sin
sin cos cos cos sin sin sin cos cos cos cos sin
sin sin sin cos cos
bR
Kinematic
Explicit Dynamic
Input Output
T T Tv v a aM q J MJ J R IRJ
1
1 1
2 2ij
njkik
ij ij C kk j i
MMC M C q
q q
jacobian ,
jacobian ,
jacobian ,
jacobian ,
v G
a
f force
torq
J X q
J q
J WE f
J WE
, , ,fM q q C q q q G q J q q J q q f d
Minimum slippage possibilityForce distribution methodQuadratic ProgrammingNimbly walkingMaximum Speed respected to stable and
non-slipping motion
Trajectory Planning
Stability
MHS (Measure height of system)ZMP (Zero moment point)FML (Force moment line)
MHS Criterion
1
1
1
1
i= 1,2, , 1i ii
i i
nn
n
p pa n
p p
p pa
p p
. . i= 1,2, ,iii vi iI M a n
1 . 0
1 . 0
iii
ii
M a
M a
i= 1,2, ,iMin n
. . i= 1,2, ,c m ih Min n
. .
. .
. i= 1,2, ,nom
c m i
i nomc m nom
h Minn
Minh
Graphical Gate Planning
Linked to Simmechanic
Conclusion
MDEM suitable for:modeling compliant walker robotsChecked new stability criterions Implemented new algorithm controls Implemented online stability controls
The End
MEDM Package
Type: Package Version: 1.5.0v Product name: MEDM Date modified: 12/01/2009