美国波士顿公司BigDog机器人简介.ppt

美国波士顿公司BigDog机器人简介.ppt

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BigDogOverviewNovember22,20082008BostonDynamicsEngineLeopardgo-kartengineOnecylinderTwostrokeWatercooled9,000rpm15hpElectricstarterHydraulicSystemVariabledisplacementhydraulicpump（3,000psi）Customactuatorpackage（x16）Low-frictionhydrodynamicseals2-stageelectro-hydraulicservovalvePositionsensorForcesensorHeatexchangerVariousfilters,manifolds,accumulators,andvalvesHydraulicActuatorPackageHydraulicSystemHeatExchanger9.62lbsEngine/Drive/Pump:

26lbs/1.42lbs/6.5lbsFueltank/Fuel:

2.1lbs/10.4lbsOiltank:

3.6lbsSensorsBigDogSensorsTypeQuantityLocationNProprioceptionExteroceptionHomeostasisOnboardComputerPC104stackPentiumCPUQNXreal-timeOSCode:

C+CustomI/OinterfaceboardsFunctionsPerformed:

ControlSensingDataCollectionCommunicationsElectricPowerDistributionSoftwareArchitectureSoftwareProcessesFunction:

ControlServoLoggingDescription:

Mainprocess.Balancesandsteersrobot,odometry,communicateswithoperator.Jointcontrol,readsensors,commandactuators,enginecontrol.Logengineeringdataforperformancedevelopmentandfailureanalysis.UpdateFrequency:

200Hz1,000Hz200HzVestOperatorControlUnit（OCU）ControlPrinciplesSupport-BounceonspringylegsBalance-MovelegswithsymmetrytoachievebalancePosture-KeepbodylevelusingstancelegsControlBigDogMaintainBodyPostureControlofbodyposturethroughforcecontrolControlBigDogMaintainBodyPostureControlofbodyposturethroughforcecontrolMaintainGroundContactForcecontrolthroughcompliantlegshockControlBigDogMaintainBodyPostureControlofbodyposturethroughforcecontrolMaintainGroundContactForcecontrolthroughcompliantlegshockMaintainLateralBalancePlacefeettocontrolbodylateralvelocityStancelegmotionpredictslateralveloc.andaccel.forNewstanceswinglegplacementAdditionalControlsEstimategroundplaneusinghistoryoflegkinematicdataandodometryAdjustposturetooptimizelegstrengtwhilemaintainingreachonterrainUsetractioncontroltoavoid,detectandrecoverfromfootslipsMovelegstoavoidlegcollisionsDetermineego-motionusingkinematic,inertialandvisualodometryTrotControlFeaturesEnginePowerControl.EngineRPMregulatedinresponsetoactualandpredictedload.Groundsteepness,groundroughness,andlateralbodyvelocitypredictdemand.LegCollisionAvoidance.Adjacentlegshaveoverlappingworkspace.Swinglegtrajectoriesavoidhittingadjacentstancelegs.TrotControlXClosedloop.Speederrorcorrectedbyxdirectionfootforces.YLateralfootpositionchosentooffsetunwantedlateralbodyvelocity.CoupledControllerCorrectionsforheightandEulererrorsmaptoyandzdirectionfootforces.ZRollPitchYawLIDARLeaderTrackingFollowleaderwithoutdirectdrivingandwithoutGPS:

Leaderwearsretro-reflectivemarkerSICKLIDARusedtolocateleaderandgeneratesteeringsignalsBigDogfollowsatapproximatefixeddistance