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WO2009006581A1 - Mécanisme robotisé bipède statiquement stable et procédé d'actionnement - Google Patents

Mécanisme robotisé bipède statiquement stable et procédé d'actionnement Download PDF

Info

Publication number
WO2009006581A1
WO2009006581A1 PCT/US2008/069174 US2008069174W WO2009006581A1 WO 2009006581 A1 WO2009006581 A1 WO 2009006581A1 US 2008069174 W US2008069174 W US 2008069174W WO 2009006581 A1 WO2009006581 A1 WO 2009006581A1
Authority
WO
WIPO (PCT)
Prior art keywords
leg member
chassis
leg
robotic mechanism
point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2008/069174
Other languages
English (en)
Inventor
Sarjoun Skaff
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bossa Nova Concepts LLC
Original Assignee
Bossa Nova Concepts LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bossa Nova Concepts LLC filed Critical Bossa Nova Concepts LLC
Publication of WO2009006581A1 publication Critical patent/WO2009006581A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/022—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members consisting of members having both rotational and walking movements

Definitions

  • the invention relates generally to robotic mechanisms and, more particularly, relates to robotic mechanisms having two legs and methods of actuating.
  • Conventional electric-powered biped robots such as humanoid robots maintain balance by having large feet and actively controlling their body posture. By adjusting the posture, they position their center directly above the foot touching the ground to achieve stability. This is made easier with large feet that provide large contact areas with the ground.
  • such robots rely on inertia sensing to actively control the location of the center of gravity and maintain it above the feet.
  • Such balancing control strategies provide static stability, i.e. the robot maintains its balance throughout its walking gait. Its movement can be interrupted at any time without loss of stability.
  • ZMP zero moment point
  • the limitations of conventional electric-powered biped design are two folds. First, actively adjusting the posture to achieve static stability leads to relatively slow motions that do not mimic biological gaits, and requires elaborate sensors and computation. Second, motor-gear articulations dissipate considerable energy every time the foot touches the ground, because these transmissions do not store and restore energy efficiently. When the foot impacts the ground, energy is lost to inelastic collisions, making it difficult for biped robots to run dynamically.
  • the present invention addresses both limitations by providing sensor-free static stability without large feet, and enabling dynamic running with elastic legs.
  • the robot's body configuration is designed such that its center of gravity is permanently below the hips, which leads to static stability even in the absence of feet.
  • the legs are actuated by a single motor at the hip, making the legs describe complete circles around the hips.
  • the legs are shaped in a spiral to enable the robot to stand up by simple actuation of the hip motors. No sensing is needed for static stability or standing up.
  • Dynamic running is made possible by forming the legs out of compliant material. This provides the legs with elastic properties so they can efficiently store and restore energy each time the leg touches the ground. This efficient exchange of energy enables the biped robot to run dynamically.
  • a robotic mechanism comprising: a chassis having a first side, an opposite second side and a center of mass; a first leg member rotatably coupled to the chassis proximate the first side, the first leg member being of generally spiral shape; and a second leg member rotatably coupled to the chassis proximate the second side, the second leg member being of generally spiral shape.
  • first leg member and a portion of the second leg member are structured to engage a surface, wherein the portion of the first leg member has a center of curvature and the portion of the second leg member has a center of curvature, and wherein the center of mass of the chassis is disposed below the center of curvature of the first leg member and the center of curvature of the second leg member.
  • the first leg member and the second leg member may rotate generally about a common axis and the center of mass of the chassis may be disposed below the common axis.
  • the first leg member and the second leg member may be formed from an elastically compliant material.
  • the first leg member may include a first end and a second end with the first end being rotatably coupled to the chassis.
  • the first leg member may be generally shaped such that the distance from the first end to a point on the first leg increases monotonically as the point describes the leg profile starting from the first end and ending at the second end.
  • the distance from the first end to a point on the first leg member may remain constant over a portion of the first leg member as the point describes the profile of the portion moving along the portion from the first end of the first leg member toward the second end of the first leg member.
  • the distance from the first end to a point on the first leg member may monotonically decrease over a portion of the first leg member as the point describes the profile of the portion moving along the portion from the first end of the first leg member toward the second end of the first leg member.
  • the second leg member may include a first end and a second end with the first end being rotatably coupled to the chassis.
  • the second leg member may be generally shaped such that the distance from the first end to a point on the second leg member increases monotonically as the point describes the leg profile starting from the first end and ending at the second end.
  • the distance from the first end to a point on the second leg member may remain constant over a portion of the second leg member as the point describes the profile of the portion moving along the portion from the first end of the second leg member toward the second end of the second leg member.
  • a robotic mechanism comprises: a chassis having a first side and an opposite second side; a first leg member rotatably coupled to the chassis proximate the first side; and a second leg member rotatably coupled to the chassis proximate the second side.
  • the first leg member and the second leg member being structured upon rotation to move the chassis from a first position in which the chassis is resting on a surface to a second position in which the chassis is positioned a distance above the surface.
  • the first leg member may be of generally spiral shape and the second leg member may be of generally spiral shape.
  • a method of actuating a robotic mechanism comprises: rotating a first leg member with respect to a chassis, rotating a second leg member with respect to the chassis, and responsive to rotation of the first leg member and rotation of the second leg member, effectuating a movement of the chassis.
  • the first leg member being rotatably coupled to the chassis proximate a first side
  • the second leg member being rotatably coupled to the chassis proximate a second side and the first leg member and the second leg member being of generally spiral shape and rotate generally about a common axis that lies above a center of mass of the chassis.
  • the first leg member and the second leg member may be rotated at a constant speed.
  • the first leg member and the second leg member may be rotated at a varying speed.
  • the method may further comprise orienting the first and second leg members out of phase with respect to each other.
  • the step of orienting may comprise moving one of the first leg member and the second leg member about 180 degrees out of phase with the other of the first leg member and the second leg member.
  • the step of orienting may comprise moving both the first leg member and the second leg member such that the first leg member and the second leg member are about 180 degrees out of phase with respect to each other.
  • the step of rotating the first leg member may comprise rotating at a constant speed and the step of rotating the second leg member may comprise rotating the second leg member at a constant speed.
  • the step of rotating the first leg member may comprise rotating the first leg member at a varying speed and the step of rotating the second leg member may comprise rotating the second leg member at a varying speed.
  • the movement of the chassis may comprise a hopping motion.
  • the movement of the chassis may comprise bipedal locomotion.
  • Figure 1 is an isometric view of a robotic mechanism in accordance with an embodiment of the invention
  • Figure 2 is a side elevation view of a leg member of the robotic mechanism of Figure 1;
  • Figure 3 is a side view of the robotic mechanism of Figure 1 showing progressive movement of the leg members about the chassis;
  • Figure 4 is side view of the robotic mechanism of Figure 1 showing an alternate orientation of the leg members.
  • number refers to the quantity one or an integer greater than one (/. e. , a plurality).
  • the robotic mechanism 10 includes a chassis 12 having a first side 14 and an opposite second side 16.
  • Chassis 12 is preferably formed from a rigid material (e.g., without limitation, aluminum, carbon fiber, wood, plastic) but may also be formed from other suitable materials.
  • the chassis 12 may be designed to accommodate a decorative and/or protective shell (not shown) that defines a certain appearance such as, without limitation, a robotic animal or a humanoid.
  • Rotatably coupled to the first side 14 is a first leg member 20.
  • a second leg member 22 is rotatably coupled to the opposite second side 16.
  • the first leg member 20 and the second leg member 22 are coupled to the chassis 12 in a manner such that they both independently rotate about a common rotational axis 24. However, some embodiments may have both legs coupled.
  • chassis 12 includes a first motor 30 and a second motor 32.
  • An output shaft (not numbered) of the first motor 30 is coupled to the first leg member 20 via a first gear train 34 so as to translate rotational power from first motor 30 to first leg member 20.
  • an output shaft (not numbered) of the second motor 32 is coupled to the second leg member 22 via a second gear train 36 so as to translate rotational power from second motor 32 to second leg member 22.
  • two motors 30, 32 and two gear trains 34, 36 are shown in the example described herein, a single motor coupled to one or more gear trains could be used to provide independent rotational movement to the first and second leg members 20, 22.
  • chassis 12 may further include motor control electronics including, but not limited to, a positioning device and power drive circuitry, as well as one or more power sources (e.g., without limitation, batteries).
  • motor control electronics including, but not limited to, a positioning device and power drive circuitry, as well as one or more power sources (e.g., without limitation, batteries).
  • positioning device or devices are employed to measure, sense or estimate the position of each of the motors 30,32 or leg members 20,22, or a combination thereof, so that the position of each leg can be measured or estimated directly from measurements. Position estimation, sensing and measurement can occur at some or all positions of the legs or motors, and at some or all times during operation.
  • the position, velocity and/or timing of each leg is preferably controlled by feedback control software and electronics that have access to all leg positions or actuator positions by reading the output of the positioning device(s).
  • the feedback control software sends independent position, velocity, acceleration or current commands to each motor and ensures tracking of such commands by reading leg position measurements.
  • additional onboard sensors such as inertia, vision and range finding sensors can be used by the feedback control software to control each of the leg members 20,22.
  • the control software is responsible for positioning each of the leg members 20,22 at specific orientations, rotating each of the leg members 20,22 at specific speeds, and synchronizing the relative position, velocity and timing of each of the leg members 20,22.
  • Control of rotation of each of the leg members 20,22 can also be performed without feedback control software by directly or indirectly coupling positioning devices to the motors 30,32, whereby positions sensed, measured or estimated regulate each of the motor's 30,32 position, speed of rotation, or acceleration.
  • Control of rotation of each of the leg members 20,22 can also be performed without feedback control software by setting the motor's 30,32 position, speed of rotation, or acceleration to predefined values without using a positioning device (open-loop control or feed- forward control).
  • a positioning device open-loop control or feed- forward control
  • Control of rotation of each of the leg members 20,22 can also be performed without feedback control software by setting the motor's 30,32 position, speed of rotation, or acceleration to predefined values without using a positioning device (open- loop control or feed-forward control).
  • each leg member 20,22 is preferably formed out of plastic, fiberglass or other suitable material having compliance properties to absorb at least some of the shock energy when a leg member 20,22 contacts the ground surface 40 and to restore some of the absorbed energy when the leg 20,22 leaves the ground surface 40.
  • leg members 20,22 may also be formed from materials lacking such compliance properties.
  • Each leg member 20,22 has a first end 26 and a second end 28 with each leg member 20,22 being rotatably coupled to the chassis 12 at or near the respective first end 26 so as to rotate generally about the rotational axis 24 previously discussed.
  • Each of the leg members 20,22 are preferably generally spiral shaped such that a distance D from the rotational axis 24, at or near first end 26, to a point on the leg member 20,22 generally increases monotonically as the point describes the profile of the leg member 20,22 starting from the first end 26 and ending at the second end 28.
  • Such monotonical increase in the distance D is shown in the example of Figure 2 in the portion of the leg member 20,22 between the first end 26 and point VI, where the distances shown are related as D ⁇ Dl ⁇ D2 ⁇ D3 ⁇ D4 ⁇ D5 with D being the least and D5 being the greatest.
  • some embodiments may include localized portions of the leg member 20,22 having non-monotonically increasing distances. In such localized portions, the distance from the first end may remain constant or may decrease.
  • An example of such localized portions is shown in the example leg member 20, 22 of Figure 2, where the distance from the first end 26 to a point on the leg member generally decreases moving from points VI to VII and generally remains constant moving from point VIII to second end 28.
  • static stability of the robotic mechanism 10, without the need for sensing equipment is provided by arranging the previously described components associated with the chassis (e.g., without limitation, first and second motors 30,32; first and second gear trains 34,36), relative to the chassis 12 such that the resultant center of mass CM (i.e., center of gravity) of the chassis 12 and components lies below the leg's center of curvature CC (shown approximated in positions b and c of figure 3) at the point (or portion) where the leg touches the ground.
  • the CM also lies vertically below the point of coupling of the first and second leg members 20,22.
  • the center of mass of the chassis 12 lies below rotational axis 24.
  • Figure 3 shows an example of the leg members 20,22 (only second leg member 22 is visible in the side view of Figure 3) of the robotic mechanism 10 positioned in some example possible orientations in which the chassis 12 is not resting on the surface 40 (see positions b, c and d) as well as the leg members 20,22 oriented such that the chassis 12 is resting on the surface 40 (see position a). It is to be appreciated that Figure 3 merely shows leg members 20,22 oriented in some example positions and that leg members 20,22 rotate completely about rotational axis 24 and therefore may be positioned in any orientation relative to the chassis 12 about axis 24.
  • leg members 20,22 allows for the robotic mechanism 10 to move from a position in which the chassis 12 is resting on a surface 40, shown at a, to a position in which chassis 12 is elevated above the surface 40 (shown at b, c, and d) by generally simultaneously rotating generally aligned leg members 20,22 through about 180 degrees in the direction of rotation as indicated by arrow R.
  • both the first leg member 20 and the second leg member 22 are oriented with respect to the chassis 12 in a generally equivalent manner (same phase).
  • jumping and hopping movements of the robotic mechanism 10 can be achieved by generally simultaneously actuating the legs in the direction R at high speed while maintaining the legs in the same phase. Actuating the legs once (one complete rotation) produces jumping, more than once (multiple rotations) produces hopping. Hopping can also be produced by actuating the legs forward and backward repeatedly. During hopping, the chassis 12 does not contact the surface 40. During hopping, the phase between the first leg member 20 and the second leg member can be varied to induce turning motion.
  • phase is to be understood to refer to the difference of angular orientation between leg members 20 and 22.
  • first leg member 20 and the second leg member 22 are first oriented generally about 180 degrees from one another, as shown in figure 4, which can be accomplished through rotation of one or both of the first and second leg members 20,22. Once the leg members 20,22 are positioned in such relative orientation, both leg members 20,22 are then actuated in the direction of motion at the same constant speed.
  • leg actuation can be performed with a single motor driving both leg members 20,22 through a gearing mechanism. It is to be appreciated that by varying the actuation speed, the movement of the robotic mechanism 10 may be varied from walking to jogging to running movements.
  • turning motions could readily be accomplished by varying the actuation speed of one or both of the leg members 20,22 (e.g., without limitation, slow only the right leg to turn right, slow only the left leg to turn left, accelerate the left leg to turn right, accelerate the right leg to turn left, or a combination of slowing one leg and accelerating the other leg).
  • each of the first and second leg members 20,22 are actuated to rotate around the rotational axis 24 following a timed profile that specifies the leg angle at each instant of time.
  • the phase of the timed profile for one of the first and second leg members 20,22 is offset from the profile of the other leg by half a period of leg rotation in order to generate an alternating biped gait.
  • first leg member 20 may follow a timed profile in which the leg member 20 rotates at a first rotational speed while in contact with the ground and at a second, faster rotational speed when not in contact with the ground.
  • the second leg member 22 may follow the same timed profile except time delayed by half of the time it takes to complete a full revolution.
  • the motion may be switched from walking, jogging or running.
  • Walking gaits are generally characterized with at least having one leg touching the ground at any time, where as jogging and running are characterized by periods of time where no leg touches the ground.
  • turning behavior can be achieved by increasing or decreasing the rotation speed of the leg member 20,22 touching the ground relative to the speed of the other leg member 20,22 when it last touched the ground. Turning in place can be achieved by actuating the leg members 20,22 in opposite directions, or by actuating only one of leg members 20,22 on the side opposite of the direction of turn.
  • movements/actuations could also be carried out by the robotic mechanism 10.
  • Such other movements/actuations include, without limitation dancing and swimming.
  • a dancing animation may be achieved by moving the leg members 20,22 independently, following two possibly different timed profiles, one for each leg.
  • a swimming behavior may be achieved by having a positively buoyant and watertight body associated with the chassis 12 and activating the walking and turning behaviors previously described while in the water.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un mécanique robotisé qui comprend un châssis qui possède un premier côté et un second côté opposé, un premier élément de pied couplé au châssis de façon rotative à proximité du premier côté et un second élément de pied couplé au châssis de façon rotative à proximité du second côté. Le premier élément de pied et le second élément de pied sont généralement de forme hélicoïdale. Le premier élément de pied et le second élément de pied tournent généralement autour d'un axe commun. Le châssis possède un centre de masse qui se trouve en dessous de l'axe commun.
PCT/US2008/069174 2007-07-04 2008-07-03 Mécanisme robotisé bipède statiquement stable et procédé d'actionnement Ceased WO2009006581A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US94794807P 2007-07-04 2007-07-04
US60/947,948 2007-07-04

Publications (1)

Publication Number Publication Date
WO2009006581A1 true WO2009006581A1 (fr) 2009-01-08

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PCT/US2008/069174 Ceased WO2009006581A1 (fr) 2007-07-04 2008-07-03 Mécanisme robotisé bipède statiquement stable et procédé d'actionnement

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2486095C1 (ru) * 2012-03-26 2013-06-27 Тиберий Георгиевич Незбайло Транспортное средство "гравиход"
CN110588832A (zh) * 2019-10-15 2019-12-20 中南大学 多足式全地形机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2794295A (en) * 1956-03-23 1957-06-04 Theodore A Robertson Wheeled tumbling toy
US5205775A (en) * 1992-03-16 1993-04-27 Brodrib William A Ambulatory animal toy
US6227934B1 (en) * 1998-07-09 2001-05-08 The Simplest Solution Toy vehicle capable of propelling itself into the air
US20010054518A1 (en) * 2000-03-16 2001-12-27 Martin Buehler Single actuator per leg robotic hexapod
US20050133280A1 (en) * 2001-06-04 2005-06-23 Horchler Andrew D. Highly mobile robots that run and jump
US6939197B1 (en) * 2005-02-03 2005-09-06 Bang Zoom Design Ltd. Toy vehicle with enhanced jumping capability

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2794295A (en) * 1956-03-23 1957-06-04 Theodore A Robertson Wheeled tumbling toy
US5205775A (en) * 1992-03-16 1993-04-27 Brodrib William A Ambulatory animal toy
US6227934B1 (en) * 1998-07-09 2001-05-08 The Simplest Solution Toy vehicle capable of propelling itself into the air
US20010054518A1 (en) * 2000-03-16 2001-12-27 Martin Buehler Single actuator per leg robotic hexapod
US20050133280A1 (en) * 2001-06-04 2005-06-23 Horchler Andrew D. Highly mobile robots that run and jump
US6939197B1 (en) * 2005-02-03 2005-09-06 Bang Zoom Design Ltd. Toy vehicle with enhanced jumping capability

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2486095C1 (ru) * 2012-03-26 2013-06-27 Тиберий Георгиевич Незбайло Транспортное средство "гравиход"
WO2013147648A1 (fr) * 2012-03-26 2013-10-03 Nezbailo Tibery Georgievich Moyen de transport « gravikhod »
CN110588832A (zh) * 2019-10-15 2019-12-20 中南大学 多足式全地形机器人
CN110588832B (zh) * 2019-10-15 2022-04-15 中南大学 多足式全地形机器人

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