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Ashish Dutta
Associate Professor
Dept. of Mechanical Engineering
Indian Institute of Technology Kanpur, INDIA
Humanoid robot design with soft
sole and springs for applications
in optimal multi agent systems
+
,
,
Prismatic Object
C.G.
1
6
13
20
Maximize
Moment is calculated by
assuming unit normal force
applied by robots.
N : Total No. of Robots
M
cw
: Sum of CW moments
M
ccw
: Sum of CCW moments
k : parameter for
controlling No. of agents.
Visibility angle () should be null
( ) ( ) { }
{ }
1 2
.....
i
n
i+1 i i i-1
r - r , r - r
Visibility angle is the common angle between all
freedom angles()
This constraint takes care of translation inaccessibility.
3
freedom
angles
1
3
1
No angle left uncovered
4
2
4
2
3
freedom
angles
1
3
1
4
4
small angle left uncovered
There should be robots creating moments in both the direction about C.G.
Feasible solution Non-feasible solution
C.G.
CW
CCW
CCW
C.G.
CW
CW
CW
This constraint takes care of rotation inaccessibility.
- No two robot approaches the same edge.
- Robots envelop never intersect with each
other on the object boundary.
Huge negative penalty (say -1e20) is imposed if
any of the constraint is violated.
Non-feasible solution
Object
D F F F F
D F
Desired
direction of
motion (D)
Robots participating in
pushing
Robots not sharing any load
Maximize
Fi
.. (1)
Problem formulation for
pushing
Using DAlemberts
principle:
- Where m
i
is the
mass of each link and
r
i
are the position
vectors.
+ + 0 ) ( ) ( T G r X r r m i p i i
The ZMP approach is used to find the stable configuration during the
GAIT.
The ZMP is the point where the sum of all the forces and the moment of all
the masses of the biped is zero.
Euler-Lagrangian equation
where
L is Lagrangian function, and is given by
KE is total kinetic energy of the biped robot,
PE is potential energy of the biped robot,
is generalized coordinates of the robot arm,
is first time derivative of the generalized coordinates,
i
is the torque applied to the system at joint into drive link i.
i = 1, 2, 3, . . . .8
i
i i
d L L
for
dt
_ _
, ,
8
1
i i
i
L KE PE
( )
( )
( )
..
( ) , t + + D h c
where ,
corresponds to inertial acceleration
related symmetric matrix
is the non-linear centrifugal force vector.
is the gravity loading force vector.
is the torque applied at joint
( )
D
( )
, h
( )
c
( ) t
The dynamic equation can be further modified by taking the reaction force
into account
where
The component is given by
where
N
2
is calculated using
( ) ( ) ( )
..
( ) , ( )
t r
t + + D h c K t
1 2, 8
( , ....... )
T
t t t t
(2) 2, 3,...., 7
(3) 1, 8
i
i
i
for i
t
for i
'
T
M
0
2
( ) i=2,3,....7
i i i
for T R a N
2
( ) i=1 and 8
i i
for M a N
Link i
8
0
1
( )
i i
i
m
+
2
OA N r g 0
p
q
t
f
Time (sec)
Joint Angle (rad)
3
0
1, 2,.........8
k
j jk
k
C t for j
where C
jk
is constant.
| | | | W dt
Objective function
Work done involves
Finding the joint angle, the joint velocity and the joint acceleration.
The hip joints should not come below the specified height
Constraints -
a) Foot should not go below the ground
b) ZMP should be inside the foot
c) Min height of the hip is specified
d) Hip should move forward
dt d done work | |
( ) ( , ) ( ) D H C + +
8 DOF Robot
Angle assignment
Parameters:
Population Size :50
Crossover ratio:0.95
Mutation ratio:0.05
Iterations : 280
Link Length:0.25 m
Step Length:0.25 m
obstacle
Parameters:
Population Size :50
Crossover ratio:0.95
Mutation ratio:0.05
Iterations : 190
Link Length:0.25 m
Step Length:0.25 m
+
Frontal Plane
3
d
+
1
3
2 2
3
2
F
F
d T
F
d T
d
F
,
_
It effects as if one
more DOF
Intended becomes
+
F = Kx ; where k = YA/ h
X = deformation, A= area of foot,
h= thickness of sole, Y = modulus of
elasticity.
F1
F2
F
T
Iterative method
for finding
new
computed joint angle
for ZMP inside foot
polygon=
Required Torque
(from dynamic model)
corresponding sole deformation =
total angle due to deformation
error =
0
zmp
0
d
= T
0
zmp
zmp
c
0
=
0
zmp
0
d
+
zmp
0
c
c
0
zmp 0
d
0
zmp
0
zmp
0
d
-
(
)
+
=
+
(
)
error < 0.01
IF
zmp
corrected angle =
0
NO
YES
Fig. Correction
procedure for
deformed
angle
For balance in
frontal plane,
new
for different
materials are:
Youngs
Modulus
N/mm2
Final value
of angle 1
(Starting
value =
25)
5000 -23.34
6000 26.0944
7000 25.3365
8000 25.1805
9000 25.0383
E
N/mm2
Actual
angle
2(35.58
)
5000 -
34.85
31
10000 -
35.21
77
50000 -
35.50
93
100000 -
35.54
58
150000 -
35.57
49
where ,
corresponds to inertial acceleration
related symmetric matrix
is the non-linear centrifugal force vector.
is the gravity loading force vector.
is the torque applied at joint
( )
D
( )
, h
( )
c
( ) t
In this work the torsional spring acts as the energy absorber and absorb the
energy in the potential form.
The flexible joint can reduce the work done during the gait
Where
corresponds to the torsional stiffness of the spring
corresponds to the reference angle.
( )
( )
( )
..
( ) , ( )
t r
t + + D h c K
t
K
r
1 2 8
[ , ,....., ]
T
t t t t
K K K K
a) Optimal trajectory for the rigid robot with
no spring
a) Optimal trajectory of robot with same
stiffness at each joint.
a) Optimal trajectory of robot with optimal
individual joint stiffness
a) Optimal trajectory for optimal instance
position, individual stiffness at each joint,
reference angle and initial orientation.
The initial tilt of the biped is taken to be pi/9 and fixed all along the
simulation
The distance of the free foot and hip joint is 0.1m and 0.05m on both the
side
GOAL
To determine the optimal individual joint stiffness for obtaining
energy optimal gait
GA Parameters
Population size was set to 200,
Maximum number of iterations was set to 4000,
Crossover probability = 0.95, and
Mutation probability = 0.05.
WD=3.8577 Watt
WD=3.4036 Watt WD=5.8366 Watt
Table 6.1:Stiffness at different joints
Joint No. 1 2 3 4 5 6 7 8
Stiffness
(Nm/rad)
Set 1 0.3838 1.3471 2.7807 2.1294 0.2171 0.7128 0.5361 2.8608
Set 2 2.4627 0.2471 2.1926 0.9228 0.5223 0.6539 2.4460 1.7384
Set 3 2.8773 0.5322 1.9642 1.5793 0.5955 0.2332 2.7530 0.7708
Average 1.9079 0.7088 2.3125 1.5438 0.4450 0.5333 1.9117 1.7900
GOAL: To Determine
Individual joint stiffness
The reference position of the torsional spring
The initial and final stances
The tilt angle of the biped robot
GA parameters
Set no. Population size Maximum number of
iterations
Crossover
probability
Mutation
probability
Set1 50 4000 0.95 0.05
Set2 500 2000 0.95 0.05
Set3 200 2000 0.95 0.05
WD=2.1605 Watt WD=1.8273 Watt WD=2.28Watt
Stiffness at different joints
Joint No. 1 2 3 4 5 6 7 8
Stiffness
(Nm/rad)
Set 1 0.9587 1.7148 0.8393 2.9919 2.7364 0.6546 1.1190 2.1605
Set 2 2.65 1.4582 0.1581 2.5154 1.5139 1.0267 1.0901 1.6588
Set 3 2.3227 0.2807 0.7013 0.0953 2.8591 2.8329 1.2758 0.2723
Average 1.9771 1.1512 0.5662 1.8675 2.3698 1.5047 1.1616 1.3638
Optimal stiffness of torsional springs at different joints
Optimal reference angles at different joints
Reference angles at different joints
Joint No. 1 2 3 4 5 6 7 8
Angle
(rad)
Set 1 -0.0561 -1.2783 1.8674 -0.98 3.5185 -0.3786 1.1394 -0.3239
Set 2 -0.0082 -1.0817 1.8844 -0.8675 3.6571 -0.4165 1.5070 -0.1918
Set 3 -0.1075 -1.5424 1.9564 -0.0056 3.3750 -0.9179 0.9242 -0.3080
Average -0.057 -1.301 1.902 -0.206 3.5169 -0.571 1.1902 -0.275
Optimal Stance for T=1 sec
Free Foot Hip
Initial Stance (m)
a
Final Stance (m)
b
Initial Stance (m)
c
Final Stance (m)
d
Height
(m)
Set 1 -0.0948 0.1072 -0.0561 0.0502 0.2978
Set 2 -0.0805 0.0852 -0.0469 0.0402 0.3060
Set 3 -0.0966 0.1090 -0.0512 0.0467 0.2928
Average -0.0906 0.1004 -0.514 0.0457 0.298
Initial Stance and Final Stance Position
Initial Orientation (
1
) in radian
Set 1 -0.4397
Set 2 -0.4201
Set 3 -0.4510
Average -0.437
Initial Orientation of Biped
As the time for GAIT increases from 0.5 sec to 2 sec the
work done reduces from 6.9538 Watt to 4.3495 Watt for
rigid case.
For a time step of 0.5 sec, 1 sec and 2 sec the minimum
work done is 4.3976 Watt, 3.9654 Watt and 3.5275 Watt
respectively when the stiffness at each joint is 0.5 Nm/rad
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