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ECE594d_Lecture_1_Jan4_small

ECE594d_Lecture_1_Jan4_small - Robot Locomotion ECE594d...

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Robot Locomotion ECE594d Prof. Katie Byl
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Robot Locomotion ECE594d Prof. Katie Byl Bill
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1. Locomotion overview As roboticists, animals give great inspiration. But, locomotion involves challenges: Underactuation (by nature) Controllability (to perform well) Today: We’ll look at some robot examples and discuss underactuation and controllability .
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Introduction to Underactuated Robotics Katie Byl ?
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Introduction to Underactuated Robotics Katie Byl aka… Agile robots: How?
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Goals for today: Define underactuation Define controllability Look at different legged robots Do they exploit their (passive) dynamics? Are they agile? (Do they recover well?) Get you to agree (perhaps): Control of underactuated robotics is essential for your own goals in robotics!
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Goals for today: Define underactuation Define controllability Look at different legged robots Do they exploit their (passive) dynamics? Are they agile? (Do they recover well?) Get you to agree (perhaps): Control of underactuated robotics is essential for your own goals in robotics!
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Quick note on notation… I use q for degrees of freedom (DOF) (e.g., joint angles (not vel.) in a robot): (q matches the robot manipulator eqns …) …and x for states (e.g., position and vel.) (x matches state-space notation …) Bu Ax x u t q q f t q q f q ) , , ( ) , , ( 2 1
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Underactuated vs Fully Actuated Consider Newtonian, 2 nd -order dynamics:
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