Presentation on robotics project 20.pptx

Robotics project on walking robots

1. Addis Ababa university Addis Ababa I nstitute of Technology Robotics project on Walking Robots

2. Introduction The locomotion over a hard or soft solid surface by means of one or more limbs or legs can be defined as walking. Walking in various forms observed among the insects and legged animals have always fascinated the mankind since the ancient time . They observed that legs are the most feasible solution for locomotion in the natural terrains consisting of obstacles like large rocks, loose soil, deep ravines, and steep slopes Walking robots have different types. Robots with six or more legs have the advantage of stability.

3. Brief History From the historical point of view, the first reference to a legged locomotion was done by Aristotle 350 B.C. in his work Progression of Animals. the first actual legged mechanisms are the Mechanical Horse patented in 1893 the Steam Man is probably the first really constructed biped able to walk. The first four leg walking robot, called as Phony Pony, fully controlled by an automatic control system was built by McGhee and Frank in 1966, the first biped able to walk called WAP-1 was developed by Kato in 1969.

4. Continued. . . Later on many prototypes of bipedal walking robots differing in structure, degrees of freedom, walking capabilities or control and analysis of bipedal gaits were built . Among others, the most word-wide famous bipeds to date are ASIMO developed by the Honda Corporation Robonaut. These robots are capable of walking, running at certain speeds and moving in a rough terrain . Recently humanoid designed to much human capability and emotions. The current list of robots designed in the last few years are:- ATLAS UNPLUGGED, ICUB, POPPY, PETMAN, NAO etc

5. Sub Categories The Walking robot has the following sub categories . Water walking robots :- they are inspired by water strider. Bipedal robots:- has made of two legs -Some notable biped robots are ASIMO, HUBO, MABEL and QRIO. Quadruped robots:- has made of four legs Hexapod robots:-A hexapod robot is a mechanical vehicle that walks on six legs. Octopod robots :- has made of eight legs. The Mondo Spider is a ride-on walking machine propelled via eight steel legs in a walking motion utilizing the Klan Linkage.

6. Principle of operation

7. Kinematics and Dynamics KINEMATICS – the analytical study of the geometry of motion of a mechanism: • with respect to a fixed reference co-ordinate system, • without regard to the forces or moments that cause the motion. F orward kinematics is commonly known as the task in which the position and orientation of the end effector is to be determined by giving the configurations for the active joints of the robotics or moments that cause the motion . The synthesis of the kinematic chains is based on human body parameters in terms of ratios, range of motion, and physical length

8. Continued. . . inverse kinematics:- which consists of determining the joint variables in terms of the end effector position and orientation Trajectory Planning:- his work intends to tackle the problem of controlling the biped robot in order to produce walking gait, when the legs follow a desired trajectory. Dynamics of Humanoid Biped Robot:- It uses the principles of Lagrangian dynamics for determining the gait locomotion equations for obtaining the torque in each joint of the biped robot.

9. Control method one of the common approaches of the biped walking robot control consists in a tracking of a precomputed reference trajectory . The reference trajectory to be tracked can be determined in various ways, e.g. to be equivalent to a reference system, like a human or a passive system able to move in a desired way . A tracking via a PID controller was proposed where as a computed torque method or a sliding mode control were proposed.

10. Possible ways of construction of a walking robot Robot Planning Robot Parts and Robot Supplies Robot Micro-controllers Programming the Robot in Arduino C Robot Sensors Robot End Effectors: Claws, Grippers, and Hands ROS (Robot Operating System ) Microsoft Robotics Developer Studio

11. Application Areas EXPLORATION Deep Ocean Exploration Space Exploration MEDICINE MILITARY and POLICE ENTERTAIMENT INDUSTRIES NUCLEAR TOYS

12. WHY IT’S NECESSARY……..??? In most Ethiopian industries and factories most actions are done by human interaction with the machines And this cause unwanted output. Because people don’t always interact with the machines in the right way. And also activities don’t done quickly because human can’t always act equally with the speed of the machinery. Walking robot can be employed in more general environment that is they have the tendency to navigate rough terrain or even climb stairs or even obstacles in standard household and fair fighting situation so that they can keep their stability in amore rough environments than other robots like driving robots which are suitable only in flat or smooth areas.