Hydraulically Actuated Hexapod Robots: Design, Implementation and Control PDF
Preview Hydraulically Actuated Hexapod Robots: Design, Implementation and Control
Intelligent Systems, Control and Automation: Science and Engineering Kenzo Nonami Ranjit Kumar Barai Addie Irawan Mohd Razali Daud Hydraulically Actuated Hexapod Robots Design, Implementation and Control Intelligent Systems, Control and Automation: Science and Engineering For furthervolumes: http://www.springer.com/series/6259 Kenzo Nonami (cid:129) Ranjit Kumar Barai Addie Irawan (cid:129) Mohd Razali Daud Hydraulically Actuated Hexapod Robots Design, Implementation and Control KenzoNonami RanjitKumarBarai DepartmentofMechanicalEngineering DepartmentofElectricalEngineering DivisionofArtificialSystemsScience JadavpurUniversity GraduateSchoolofEngineering Kolkata,India ChibaUniversity Chiba,Japan AddieIrawan MohdRazaliDaud FacultyofElectricalandElectronics FacultyofElectricalandElectronics Engineering Engineering RoboticsandUnmannedSystems RoboticsandUnmannedSystems (RUS)group (RUS)group UniversitiMalaysiaPahang UniversitiMalaysiaPahang Pahang,Malaysia Pahang,Malaysia ISSN2213-8986 ISSN2213-8994(electronic) ISBN978-4-431-54348-0 ISBN978-4-431-54349-7(eBook) DOI10.1007/978-4-431-54349-7 SpringerTokyoHeidelbergNewYorkDordrechtLondon LibraryofCongressControlNumber:2013949168 ©SpringerJapan2014 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionor informationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerpts inconnectionwithreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeing enteredandexecutedonacomputersystem,forexclusiveusebythepurchaserofthework.Duplication ofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheCopyrightLawofthe Publisher’s location, in its current version, and permission for use must always be obtained from Springer.PermissionsforusemaybeobtainedthroughRightsLinkattheCopyrightClearanceCenter. 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Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface Roboticstechnologycoversverywidearea.Fullyautonomousrobotsinparticular are associated with three functions, namely, manipulation, locomotion, and com- munication.Locomotionrobotsmaybeclassifiedbytheenvironmentinwhichthey travel: (1) Land or home robots are most commonly wheeled, unmanned ground vehicles (UGVs) but also include legged robots with two or more legs, like humanoidsorresemblinganimalsorinsects.(2)Aerialrobotsareusuallyreferred to as unmanned aerial vehicles (UAVs). (3) Underwater robots are usually called autonomousunderwatervehicles(AUVs).WheeledandtrackedUGVs,UAVs,and AUVs are already in use for real applications. The exceptions are legged robots. Unfortunately, legged robotsbased on the use ofanimal-like andhuman-like legs are still in the research phase even though many research outcomes have been achieved.Themainreasonfortheirremainingintheresearchstagemaybethatthe locomotion speed and the energy efficiency of legged robots are still very low comparedwiththoseofwheeled robots.However,wheeledvehiclesareunableto moveonrough,off-roadorunmodifiednaturalterrain andneed pavedsurfacesin ordertooperatesmoothly. According to the United States Army, approximately half of the Earth’s land surface is inaccessible to either wheeled or tracked vehicles. Legged animals and humansarecapableofleggedlocomotionandasaresulttheycanaccessanypartof theEarth’slandsurfacewithoutgreatdifficulty.Theseleggedcreaturescanwalkon rough or irregular terrain by establishing foot contact with the ground at selected pointsaccordingtotheterrainconditionsandbyvaryingtheirlegconfigurationsin order to adapt themselves to irregularities in terrain. Thus, legs are inherently adequate systems for locomotion on rough and irregular terrain. This fact was a motivationforthedevelopmentofartificialleggedlocomotionsystems. Amongthevarioustypesofleggedrobots,hexapodwalkingrobotsofferagood static stability margin and locomotion speed, and at the same time they are fault- tolerant. Therefore, hexapod walking robots have emerged as a popular robotic system for various critical and hazardous field applications. The origin of our research motivation was to build a human-like de-mining robot using hexapod robots. We need a fast, safe, and robust technique for de-mining operations, and v vi Preface walkingrobotscanbeconsideredaneffectiveandefficientmeansforthatpurpose. Hydraulically actuated hexapod walking robots can be used for the detection and removaloflandmineswhileprovidingsafetyandsecurityfortheoperatingperson- nel. Hydraulically actuated hexapod robots are mechanically robust, have a high level of static stability margin, and are suitable for operation in rough terrain. Therefore, their deployment for de-mining tasks is advantageous from the point of view of their safe locomotion capability in a mine field and their capability to carrylargepayloadsofthetoolsrequiredforde-miningmissions.Nonamigroupat theRoboticsandControlSystemLaboratory(NonamiLaboratory),ChibaUniver- sity,Japan,hasdevelopedandsuccessfullytestedthehydraulicallyactuatedhexa- pod robots COMET-III and COMET-IV for achieving robot-assisted de-mining. Thisbookdescribestheessentialdesign,implementation,andcontrolofhydrauli- callyactuatedhexapodrobots. Chapter1coversvarioustheoreticalandpracticalaspectsofleggedlocomotion and also introduces many popular and successfully implemented legged robots around the world. Chapter 2 presents a condensed perspective of the historical evolutionofwalkingrobots.Chapter3describesthegroup’sattempttofundamen- tallyreviewthebasicspecificationsofarobot,suchasthemechanism,gait,drive system, and control system, and to approach the optimization-based design of COMET-IV—thehexapoddangerous-operationsrobot.Chapter4dealswithkine- matics and path planning of COMET-IV. In particular, the developed kinematics anddynamicsareexploitedtobeusedforend-effecterforceonfootdetectionand overall COMET-IV stability for force-attitude control purposes. In COMET-IV research,thetotalforceonthefootiscalculatedforcenter-of-mass(CoM)identifi- cationasaninputforrobotattitudeduringwalkingsessions.Chapter5startswitha generaldescriptionofposition-control-basedlocomotioncontrolofwalkingrobots. Then the various nonlinearities of the hydraulic actuation system are briefly described.Finally,twosliding-mode-basedlocomotioncontroltechniquesandthe robust adaptive fuzzy-control-based locomotion control technique of COMET-III intheposition-control-basedframeworkarepresentedwithreal-timeexperimental results.InChap.6,itisshownthat,withthecapabilityofactivesuspension(legs), thestrongroleoflegged/walkingrobotdesignmakesitpossibletopassthroughany uneven terrain as long as the obstacles are lower than the robot’s maximum or minimumoverallbodyheight,ifcomparetothewheeltyperobot.Therefore,force orimpedancecontrolisneededtomakeadynamicresponseoneachleginorderto identify the different level of the terrain or any sudden changes in the terrain. Moreover, this control is crucial in hidden areas that could not be identified by a vision system via pre-scanning and localization. Chapter 7 proposes several algorithms such as impedance control implementation for the hexapod robot COMET-IV. Also, in the case of heavy-weight and large-scale-structured robots, inclinometers from attitude angles must be designed to control the long-term attitudes of the body without any vibration caused by changes in support of the legs. This shaking is considered a natural scenario since the robot is using a hydraulicsystemandanautomotiveengine.Chapter8dealswithcasesofextreme environments, where it is difficult to achieve full autonomy. Therefore, a Preface vii teleoperation-based system has been designed on the COMET-IV for extreme environments. The teleoperation assistant system is designed to understand the ambient environment and the movement conditions of the robot. These include leggedrobotchangesthataffecttheheightofthebodyandtherobot’sattitude.In thischapter,weappliedanomni-directionalvisionsensorand3Drobotanimation. The online 3D virtual reality technique is proposed for achieving synchronous control between virtual 3D animation and the physical COMET-IV in a real environment. Chapter 9 proposes several methods for crossing an obstacle and descendingandascendingacliffbasedonLRF3Dpointclouddata.Experimental results show that the proposed methods are useful for performing assigned tasks. Chapter10describeschallengesandnewfrontiers. Hydraulically actuated hexapod robots form a very useful class of walking robots in the context of service robotics, field robotics, search and rescue, and high-risk operations. They can also be utilized as a test bed for designing and validatingvariousgaitsandwalkingbehaviors.Manypotentialapplicationsmaybe possible with the advent of various technologies associated with the design and manufacturingofsuchrobots. I would like to express my sincere gratitude to Dr. Y. Ooroku, Mr. H. Sugai, Mr. M. Oku, Mr. H. Yang, Mr. G. Piao, Mr. K. Adachi, Mr. Y. Harada, Mr. K. Futagami, Mr. G. Lin, Mr. D. H. Tran, Mr. Y. Akutsu, Mr. R. Li, Mr. S. Imamura, Mr. A. Haneda, Mr. R. Namiki, Mr. Y. Tsuchida, Mr. Y. Tondok, and Mr. K. Zhao, who contributed so much to the work on COMET-IV.Thisbookwouldnothavebeenpossiblewithouttheirdevotedefforts. I am also very grateful to many of my laboratory students who contributed to COMET-I, COMET-II, and COMET-III projects. Finally, we would like to thank Ms.Y.SuminoandMs.T.SatoatSpringerfortheirsupportandencouragementin undertakingthispublication. Chiba,Japan KenzoNonami Kolkata,India RanjitKumarBarai Pahang,Malaysia AddieIrawan Pahang,Malaysia MohdRazaliDaud Contents 1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Walking“Machines”orWalking“Robots”?. .. . . . .. . . .. . . .. 4 1.3 “BiologicallyInspired”DesignsandDevelopment ofWalkingRobots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.4 ClassificationofWalkingRobots. .. . . . . . . . . .. . . . . . . . . . .. 6 1.5 HexapodWalkingRobots:APopularWalkingMachine forFieldRoboticsApplications. . . . . . . . . . . . . . . . . . . . . . . . . 8 1.6 WalkingRobotTerminology. . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.7 ChallengesofNavigationandLocomotionControl ofHexapodWalkingRobotfortheField RoboticsApplications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2 HistoricalandModernPerspectiveofWalkingRobots. . . . . . . . . . 19 2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2.2 HistoricalPerspectiveofWalkingRobots. . . . . . . . . . . . . . . . . 21 2.2.1 EmergenceofArtificialLeggedLocomotion fromAncientCivilizations:Imagination,Ideas, andImplementations. . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.2.2 EvolutionofModernWalkingRobots. . . . . . . . . . . . . . . 27 2.3 ModernandFuturePerspectiveofWalking RobotResearch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 3 DesignandOptimizationofHydraulicallyActuated HexapodRobotCOMET-IV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 3.1 SystemConstruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 3.1.1 ConceptualDesign. .. . . . . .. . . . .. . . . .. . . . .. . . . .. 42 3.1.2 OverallMechanicalSystemDesign. . . . . . . . . . . . . . . . 46 ix
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