美国波士顿公司BigDog机器人简介

BigDogOverviewNovember22,2008©2008BostonDynamicsEngine•Leopardgo-kartengine•Onecylinder•Twostroke•Watercooled•9,000rpm•~15hp•ElectricstarterHydraulicSystemVariabledisplacementhydraulicpump(3,000psi)•Customactuatorpackage(x16)–Low-frictionhydrodynamicseals–2-stageelectro-hydraulicservovalve–Positionsensor–ForcesensorHeatexchangerVariousfilters,manifolds,accumulators,andvalvesHydraulicActuatorPackageHydraulicSystemHeatExchanger9.62lbsEngine/Drive/Pump:26lbs/1.42lbs/6.5lbsFueltank/Fuel:2.1lbs/10.4lbsOiltank:3.6lbsSensorsBigDogSensorsTypeQuantityLocationNProprioceptionExteroceptionHomeostasisOnboardComputerPC104stackPentiumCPUQNXreal-timeOSCode:C++CustomI/Ointerfaceboards•FunctionsPerformed:–Control–Sensing–DataCollection–Communications–ElectricPowerDistributionSoftwareArchitectureSoftwareProcessesFunction:ControlServoLoggingDescription:Mainprocess.Balancesandsteersrobot,odometry,communicateswithoperator.Jointcontrol,readsensors,commandactuators,enginecontrol.Logengineeringdataforperformancedevelopmentandfailureanalysis.UpdateFrequency:200Hz1,000Hz200HzVestOperatorControlUnit(OCU)ControlPrinciplesSupport-BounceonspringylegsBalance-MovelegswithsymmetrytoachievebalancePosture-KeepbodylevelusingstancelegsControl–BigDogMaintainBodyPosture•ControlofbodyposturethroughforcecontrolControl–BigDogMaintainBodyPosture•ControlofbodyposturethroughforcecontrolMaintainGroundContact•ForcecontrolthroughcompliantlegshockControl–BigDogMaintainBodyPosture•ControlofbodyposturethroughforcecontrolMaintainGroundContact•ForcecontrolthroughcompliantlegshockMaintainLateralBalance•PlacefeettocontrolbodylateralvelocityStancelegmotionpredictslateralveloc.andaccel.forNewstanceswinglegplacementAdditionalControlsEstimategroundplaneusinghistoryoflegkinematicdataandodometryAdjustposturetooptimizelegstrengtwhilemaintainingreachonterrainUsetractioncontroltoavoid,detectandrecoverfromfootslipsMovelegstoavoidlegcollisionsDetermineego-motionusingkinematic,inertialandvisualodometryTrotControlFeatures•EnginePowerControl.EngineRPMregulatedinresponsetoactualandpredictedload.Groundsteepness,groundroughness,andlateralbodyvelocitypredictdemand.•LegCollisionAvoidance.Adjacentlegshaveoverlappingworkspace.Swinglegtrajectoriesavoidhittingadjacentstancelegs.TrotControlX–Closedloop.Speederrorcorrectedbyxdirectionfootforces.Y–Lateralfootpositionchosentooffsetunwantedlateralbodyvelocity.CoupledControllerCorrectionsforheightandEulererrorsmaptoyandzdirectionfootforces.ZRollPitchYawLIDARLeaderTracking•FollowleaderwithoutdirectdrivingandwithoutGPS:–Leaderwearsretro-reflectivemarker–SICKLIDARusedtolocateleaderandgeneratesteeringsignals–BigDogfollowsatapproximatefixeddistance