美国波士顿公司BigDog机器人简介课件.ppt

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1、BigDogOverviewNovember22,2008©2008BostonDynamicsEngineLeopardgo-kartengineOnecylinderTwostrokeWatercooled9,000rpm~15hpElectricstarterHydraulicSystemVariabledisplacementhydraulicpump(3,000psi)•Customactuatorpackage(x16)–Low-frictionhydrodynamicseals–2-stageel

2、ectro-hydraulicservovalve–Positionsensor–ForcesensorHeatexchangerVariousfilters,manifolds,accumulators,andvalvesHydraulicActuatorPackageHydraulicSystemHeatExchanger9.62lbsEngine/Drive/Pump:26lbs/1.42lbs/6.5lbsFueltank/Fuel:2.1lbs/10.4lbsOiltank:3.6lbsSenso

3、rsBigDogSensorsTypeQuantityLocationNProprioceptionExteroceptionHomeostasisOnboardComputerPC104stackPentiumCPUQNXreal-timeOSCode:C++CustomI/Ointerfaceboards•FunctionsPerformed:–Control–Sensing–DataCollection–Communications–ElectricPowerDistributionSoftwareAr

4、chitectureSoftwareProcessesFunction:ControlServoLoggingDescription:Mainprocess.Balancesandsteersrobot,odometry,communicateswithoperator.Jointcontrol,readsensors,commandactuators,enginecontrol.Logengineeringdataforperformancedevelopmentandfailureanalysis.Upda

5、teFrequency:200Hz1,000Hz200HzVestOperatorControlUnit(OCU)ControlPrinciplesSupport-BounceonspringylegsBalance-MovelegswithsymmetrytoachievebalancePosture-KeepbodylevelusingstancelegsControl–BigDogMaintainBodyPosture•ControlofbodyposturethroughforcecontrolCon

6、trol–BigDogMaintainBodyPosture•ControlofbodyposturethroughforcecontrolMaintainGroundContact•ForcecontrolthroughcompliantlegshockControl–BigDogMaintainBodyPosture•ControlofbodyposturethroughforcecontrolMaintainGroundContact•Forcecontrolthroughcompliantlegsh

7、ockMaintainLateralBalance•PlacefeettocontrolbodylateralvelocityStancelegmotionpredictslateralveloc.andaccel.forNewstanceswinglegplacementAdditionalControlsEstimategroundplaneusinghistoryoflegkinematicdataandodometryAdjustposturetooptimizelegstrengtwhilemain

8、tainingreachonterrainUsetractioncontroltoavoid,detectandrecoverfromfootslipsMovelegstoavoidlegcollisionsDetermineego-motionusingkinematic,inertialandvisualodometryTrotControlFeatures•EnginePower