Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want...
Transcript of Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want...
![Page 1: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/1.jpg)
Why Make Walking Robots?
![Page 2: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/2.jpg)
Why Make Walking Robots?
![Page 3: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/3.jpg)
My HistoryLooking for ways to connect the real world with the digital world led me to robotics.
- Music Major- Focus on Computer music- Interactive Art- New Media
- Science and Engineering Teacher
- Biology- Started Lego Robotics Classes- Developed Robotics Program
![Page 4: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/4.jpg)
My History with devices- I-CubeX- Phidgets- Mindstorms- ER-1- SSC-32- CM-5- Arduino- Arbotix
![Page 5: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/5.jpg)
Why I thought I would never want to make walking robots...I started out wanting to make something akin to a robot pet or a robot friend.
- Run some sort of AI- Be a part of your regular life and
day- Capable of doing multiple useful
things.- Affordable?
![Page 6: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/6.jpg)
Don’t Do It! :-)All of my fears about making walking robots came true.
- All I work on is getting the darn things to not fall over.
- My wheeled robots could run circles around my walking robots.
- They take all your monies- They are constantly broken (too many
moving parts, wires, things to go wrong)
- Battery life?- AI is not a thing.
![Page 7: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/7.jpg)
Why I made the switchRobogames
Mech Warfare
- Rules required walking robots
Humanoid Robot Kung Fu
- Robo-One
It really came down to competition...
![Page 8: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/8.jpg)
Making things walkLocomotion as a focus
- The cost of weight limits- Weight = battery life- Weight = increased cost- Weight = Balance issues
- Servos- DOF = More = More- Taller = Stronger- Smart vs PWM
- Precision- Prefabricated vs
homemade
![Page 9: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/9.jpg)
3D Printing PartsBenefits:
- Accuracy- Cost
Traps:
- Why 3d Print?- Strength- Delamination Issues/part orientation- Specific Design of 3D printable parts
![Page 10: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/10.jpg)
Printers
Current favorite: Ultimaker 2+
At work:
- Makerbot Replicator 2- Cube
![Page 11: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/11.jpg)
My Design ProcessTools:
- Autodesk Inventor
Process:
- Look at other people’s designs- Download or create models of
purchased parts- Create an assembly aligning parts- Create Parts around the assembly
- Either, Sheet Metal parts using projected geometry or
- 3D printed parts extruded to existing geometry
![Page 12: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/12.jpg)
Important Points:Layer orientation - avoid delamination
- Print in several parts and glue together- Try to Use Nylon, Polycarbonate, or
ABS
Design for limitations of 3D printed parts
![Page 13: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/13.jpg)
Moving AroundKinematics = The study of motion
- Pose Based- Forward Kinematics = Telling the
robot the angles and finding out the resulting position of the end effector.
- Inverse Kinematics = Telling the robot the position of the end effector and having it come up with the angles.
![Page 14: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/14.jpg)
Pose Based using Dynamixel Servos
Walking gate is stored as a series of poses
- Send relax command- Pose robot- Turn on torque- Capture pose- Repeat
![Page 15: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/15.jpg)
Forward Kinematics
Known Leg Lengths and Default Angles
- Use a triangle calculator to find end effector position
- Modify angles in known quantities to achieve desired output.
- Use a mix of pose based and pre-calculated movements.
![Page 16: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/16.jpg)
Inverse Kinematics1) Set XY position for foot2) Use pythagorean theorem to
calculate length of leg along the ground and horizontal angle.
3) Measure height off of ground.4) Using results of previous
calculation calculate angle from shoulder to foot on ground using pythagorean theorem again.
5) Convert angles into servo positions.
6) Set servos to calculated positions
![Page 17: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/17.jpg)
Inverse KinematicsDesired XY position of end effector
- Using XY coordinates Calculate C (ground distance) and angle- This is the coxa X angle.
- Using coxa height off of ground as B and ground distance as A calculate new C (leg length)
- Using desired leg length as C and leg segment lengths calculate angles at shoulder Y, Knee, and ankle
- Offset Shoulder Y for desired height.
![Page 18: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/18.jpg)
My Walking Robots
![Page 19: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/19.jpg)
My HistoryLooking for ways to connect the real world with the digital world led me to robotics.
- Music Major- Focus on Computer music- Interactive Art- New Media
- Science and Engineering Teacher
- Biology- Started Lego Robotics Classes- Developed Robotics Program
![Page 20: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/20.jpg)
My History with devices- I-CubeX- Phidgets- Mindstorms- ER-1- SSC-32- CM-5- Arduino- Arbotix
![Page 21: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/21.jpg)
Why I thought I would never want to make walking robots...I started out wanting to make something akin to a robot pet or a robot friend.
- Run some sort of AI- Be a part of your regular life and
day- Capable of doing multiple useful
things.- Affordable?
![Page 22: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/22.jpg)
Don’t Do It! :-)All of my fears about making walking robots came true.
- All I work on is getting the darn things to not fall over.
- My wheeled robots could run circles around my walking robots.
- They take all your monies- They are constantly broken (too many
moving parts, wires, things to go wrong)
- Battery life?- AI is not a thing.
![Page 23: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/23.jpg)
Why I made the switchRobogames
Mech Warfare
- Rules required walking robots
Humanoid Robot Kung Fu
- Robo-One
It really came down to competition...
![Page 24: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/24.jpg)
Making things walkLocomotion as a focus
- The cost of weight limits- Weight = battery life- Weight = increased cost- Weight = Balance issues
- Servos- DOF = More = More- Taller = Stronger- Smart vs PWM
- Precision- Prefabricated vs
homemade
![Page 25: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/25.jpg)
3D Printing PartsBenefits:
- Accuracy- Cost
Traps:
- Why 3d Print?- Strength- Delamination Issues/part orientation- Specific Design of 3D printable parts
![Page 26: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/26.jpg)
Printers
Current favorite: Ultimaker 2+
At work:
- Makerbot Replicator 2- Cube
![Page 27: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/27.jpg)
My Design ProcessTools:
- Autodesk Inventor
Process:
- Look at other people’s designs- Download or create models of
purchased parts- Create an assembly aligning parts- Create Parts around the assembly
- Either, Sheet Metal parts using projected geometry or
- 3D printed parts extruded to existing geometry
![Page 28: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/28.jpg)
Important Points:Layer orientation - avoid delamination
- Print in several parts and glue together- Try to Use Nylon, Polycarbonate, or
ABS
Design for limitations of 3D printed parts
![Page 29: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/29.jpg)
Moving AroundKinematics = The study of motion
- Pose Based- Forward Kinematics = Telling the
robot the angles and finding out the resulting position of the end effector.
- Inverse Kinematics = Telling the robot the position of the end effector and having it come up with the angles.
![Page 30: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/30.jpg)
Pose Based using Dynamixel Servos
Walking gate is stored as a series of poses
- Send relax command- Pose robot- Turn on torque- Capture pose- Repeat
![Page 31: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/31.jpg)
Forward Kinematics
Known Leg Lengths and Default Angles
- Use a triangle calculator to find end effector position
- Modify angles in known quantities to achieve desired output.
- Use a mix of pose based and pre-calculated movements.
![Page 32: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/32.jpg)
Inverse Kinematics1) Set XY position for foot2) Use pythagorean theorem to
calculate length of leg along the ground and horizontal angle.
3) Measure height off of ground.4) Using results of previous
calculation calculate angle from shoulder to foot on ground using pythagorean theorem again.
5) Convert angles into servo positions.
6) Set servos to calculated positions
![Page 33: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/33.jpg)
Inverse KinematicsDesired XY position of end effector
- Using XY coordinates Calculate C (ground distance) and angle- This is the coxa X angle.
- Using coxa height off of ground as B and ground distance as A calculate new C (leg length)
- Using desired leg length as C and leg segment lengths calculate angles at shoulder Y, Knee, and ankle
- Offset Shoulder Y for desired height.
![Page 34: Why Make Walking Robots? - Seattle Robotics€¦ · 19/1/2019 · Why I thought I would never want to make walking robots... I started out wanting to make something akin to a robot](https://reader033.fdocuments.us/reader033/viewer/2022050404/5f81bddb08bac928d76441d6/html5/thumbnails/34.jpg)
My Walking Robots