This document provides an overview of the BigDog robot in 3 sentences:
BigDog is a quadrupedal robot designed by Boston Dynamics to walk over rough terrain. It uses a hydraulic system powered by a small engine to actuate 16 hydraulic actuators that move its legs. Onboard sensors and software allow BigDog to balance, walk stably, avoid obstacles, and follow a human leader using LIDAR.
A Paper that Summarizes the BigDog ProgramPeerasak C.
BigDog, the Rough-Terrain Quaduped Robot
Marc Raibert, Kevin Blankespoor, Gabriel Nelson, Rob Playter
and the BigDog Team
Boston Dynamics, Waltham, MA 02451
USA (Tel: 617-868-5600; e-mail: mxr@BostonDynamics.com).
Abstract: Less than half the Earth's landmass is accessible to existing wheeled and tracked vehicles. But
people and animals using their legs can go almost anywhere. Our mission at Boston Dynamics is to
develop a new breed of rough-terrain robots that capture the mobility, autonomy and speed of living
creatures. Such robots will travel in outdoor terrain that is too steep, rutted, rocky, wet, muddy, and snowy
for conventional vehicles. They will travel in cities and in our homes, doing chores and providing care,
where steps, stairways and household clutter limit the utility of wheeled vehicles. Robots meeting these
goals will have terrain sensors, sophisticated computing and power systems, advanced actuators and
dynamic controls. We will give a status report on BigDog, an example of such rough-terrain robots.
Presentasi Proyek Akhir untuk menyelesaikan Tugas Akhir di PENS-Surabaya.
Judul : Rancang Bangun Robot Semaphore dengan Input Sandi Morse untuk Pembelajaran Siswa Pramuka.
A Paper that Summarizes the BigDog ProgramPeerasak C.
BigDog, the Rough-Terrain Quaduped Robot
Marc Raibert, Kevin Blankespoor, Gabriel Nelson, Rob Playter
and the BigDog Team
Boston Dynamics, Waltham, MA 02451
USA (Tel: 617-868-5600; e-mail: mxr@BostonDynamics.com).
Abstract: Less than half the Earth's landmass is accessible to existing wheeled and tracked vehicles. But
people and animals using their legs can go almost anywhere. Our mission at Boston Dynamics is to
develop a new breed of rough-terrain robots that capture the mobility, autonomy and speed of living
creatures. Such robots will travel in outdoor terrain that is too steep, rutted, rocky, wet, muddy, and snowy
for conventional vehicles. They will travel in cities and in our homes, doing chores and providing care,
where steps, stairways and household clutter limit the utility of wheeled vehicles. Robots meeting these
goals will have terrain sensors, sophisticated computing and power systems, advanced actuators and
dynamic controls. We will give a status report on BigDog, an example of such rough-terrain robots.
Presentasi Proyek Akhir untuk menyelesaikan Tugas Akhir di PENS-Surabaya.
Judul : Rancang Bangun Robot Semaphore dengan Input Sandi Morse untuk Pembelajaran Siswa Pramuka.
In recent years, flying robots such as miniature helicopters or quadrotors have received a large gain in popularity. Potential applications range from aerial filming over remote visual inspection to automatic 3D reconstruction of buildings. Navigating a quadrotor manually requires a skilled pilot and constant concentration.
Therefore, there is a strong scientific interest to develop solutions that enable quadrotors to fly autonomously and without constant human supervision. This is a challenging research problem because the payload of a quadrotor is uttermost constrained and so both the quality of the onboard sensors and the available computing power is strongly limited.
Here you will be introduced to the basic concepts for autonomous navigation for quadrotors including topics such as probabilistic state estimation, linear control, and path planning. You will learn how to infer the position of the quadrotor from its sensor readings, how to navigate along a series of waypoints, and how to plan collision free trajectories.
Uptime Devices - Network and Web Enabled TechnologiesUptime Devices
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Product Catalog - Network and Web Enabled DevicesUptime Devices
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MARINET – National Technology Initiative (NTI) is a key long-term program of the public-private partnership in the development of promising new markets based on high-tech solutions that will determine development of the global and Russian economy in the next 15-20 years.
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In recent years, flying robots such as miniature helicopters or quadrotors have received a large gain in popularity. Potential applications range from aerial filming over remote visual inspection to automatic 3D reconstruction of buildings. Navigating a quadrotor manually requires a skilled pilot and constant concentration.
Therefore, there is a strong scientific interest to develop solutions that enable quadrotors to fly autonomously and without constant human supervision. This is a challenging research problem because the payload of a quadrotor is uttermost constrained and so both the quality of the onboard sensors and the available computing power is strongly limited.
Here you will be introduced to the basic concepts for autonomous navigation for quadrotors including topics such as probabilistic state estimation, linear control, and path planning. You will learn how to infer the position of the quadrotor from its sensor readings, how to navigate along a series of waypoints, and how to plan collision free trajectories.
Uptime Devices - Network and Web Enabled TechnologiesUptime Devices
Uptime Devices designs and commercializes web-enabled infrastructure monitoring solutions that notify you when an environmental, security or power threat is detected. The web interface allows instant access to real-time data, graphs, logs, and control of external power devices. The products produced by Uptime Devices are scalable, reliable, easy to use and secure.
Product Catalog - Network and Web Enabled DevicesUptime Devices
Uptime Devices' Sensor Hubs are compact environmental and security monitoring network devices that notify personnel when conditions exceed user-de!ned limits.
MARINET – National Technology Initiative (NTI) is a key long-term program of the public-private partnership in the development of promising new markets based on high-tech solutions that will determine development of the global and Russian economy in the next 15-20 years.
MARINET was established in 2015 and involves a wide range of organizations providing advanced technologies for the maritime industry – from the leading corporations and universities to startup companies and research teams. Currently it joins several hundreds representatives from technology companies, leading universities, research and scientific centers, development institutions, business associations, ministries and government agencies.
Understanding User Needs and Satisfying ThemAggregage
https://www.productmanagementtoday.com/frs/26903918/understanding-user-needs-and-satisfying-them
We know we want to create products which our customers find to be valuable. Whether we label it as customer-centric or product-led depends on how long we've been doing product management. There are three challenges we face when doing this. The obvious challenge is figuring out what our users need; the non-obvious challenges are in creating a shared understanding of those needs and in sensing if what we're doing is meeting those needs.
In this webinar, we won't focus on the research methods for discovering user-needs. We will focus on synthesis of the needs we discover, communication and alignment tools, and how we operationalize addressing those needs.
Industry expert Scott Sehlhorst will:
• Introduce a taxonomy for user goals with real world examples
• Present the Onion Diagram, a tool for contextualizing task-level goals
• Illustrate how customer journey maps capture activity-level and task-level goals
• Demonstrate the best approach to selection and prioritization of user-goals to address
• Highlight the crucial benchmarks, observable changes, in ensuring fulfillment of customer needs
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Personal Brand Statement:
As an Army veteran dedicated to lifelong learning, I bring a disciplined, strategic mindset to my pursuits. I am constantly expanding my knowledge to innovate and lead effectively. My journey is driven by a commitment to excellence, and to make a meaningful impact in the world.
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8. Sensors
GPS LIDAR
Battery Voltage
Ring Laser Stereo Vision
Gyro & Linear
Accelerometers
Engine Temp Joint angles
& Speed & forces
Hydraulic
Pressure, Flow
& Temp
9. BigDog Sensors
Measurement
Type Location N
Quantity
Knee,
Linear Pot Joint displacements Hip (2), 16
Ankle
Load Cell Actuator, ankle force Legs 16
Current Sensor Servo valve current eBox 16
Proprioception
Stereo Vision Obstacles, Optic Flow Body 3
Ground Slope
LIDAR Human Tracking Body 1
Gyro
3 angular rates
3 linear accelerations
Body 6 Exteroception
Temperature Engine, Oil temperature Body 3
Flow Oil flow Body 4
Pressure Oil pressure Body 2 Homeostasis
Engine RPM
Governor Body 2
Battery voltage
Total 69
10. Onboard Computer
• PC104 stack
• Pentium CPU
• QNX real-time OS
• Code: C++
• Custom I/O interface boards
• Functions Performed:
– Control
– Sensing
– Data Collection
– Communications
– Electric Power Distribution
11. Software Architecture
HUMAN FOLLOWING 10Hz PLANNING 2Hz DATA LOGGING 200Hz
LIDAR
Position Terrain Map Laser Data
Object Tracking Long Term
30 Sec Data Log
Cost Map
Fault Log
Terrain Map 5k vars
Planned Path
Visual Odometry
Smoothed Path
POSE ESTIMATION 200Hz
IMU Visual Leg CONTROL 200Hz
Odometry Kinematics 802.11
GPS IMU Smoothed Path Joint Data
World Position, Orientation Engineering Interface
Steering Command
IK
Gait Control
TDLO
DEVICE DRIVERS 1kHz
Actuation Commands 900
MHz RF
IMU Joint Data
LIDAR GPS ACTUATION 1kHz Operator Interface
Position Servos Force Servos
12. Software Processes
Function: Control Servo Logging
Description: Main process. Joint control, Log engineering
Balances and read sensors, data for
steers robot, command performance
odometry, actuators, development
communicates engine control. and failure
with operator. analysis.
Update
200 Hz 1,000 Hz 200 Hz
Frequency:
13. Vest Operator
Control Unit (OCU)
Head Mounted
Display
900 Mhz
Antenna
HMD
Electronics
Steering
controller
OCU Computer
Battery
900 Mhz
Radio
14. Control Principles
Support - Bounce on
springy legs
Balance - Move legs
with symmetry to
achieve balance
Posture - Keep body
level using stance
legs
15. Control – BigDog
Net force
Maintain Body Posture & moment
• Control of body posture
through force control Hip torque
control
16. Control – BigDog
Net force
Maintain Body Posture & moment
• Control of body posture
through force control Hip torque
control
Maintain Ground Contact
• Force control through
compliant leg shock
Position
control
17. Control – BigDog
Maintain Body Posture
• Control of body posture
through force control
Maintain Ground Contact Lateral
• Force control through velocity
compliant leg shock
Maintain Lateral Balance
• Place feet to control body
lateral velocity
Stance leg motion predicts
lateral veloc. and accel. for New stance
swing leg placement legs
18. Additional Controls
• Estimate ground plane using history of
leg kinematic data and odometry
• Adjust posture to optimize leg strength
while maintaining reach on terrain
• Use traction control to avoid, detect and
recover from foot slips
• Move legs to avoid leg collisions
• Determine ego-motion using kinematic,
inertial and visual odometry
19. Trot Control Features
• Engine Power Control.
• Engine RPM regulated in response to actual
and predicted load.
• Ground steepness, ground roughness, and
lateral body velocity predict demand.
• Leg Collision Avoidance.
• Adjacent legs have overlapping workspace.
• Swing leg trajectories avoid hitting adjacent
stance legs.
20. Trot Control
• X – Closed loop. Speed error corrected
by x direction foot forces.
• Y – Lateral foot position chosen to offset
unwanted lateral body velocity.
• Z
• Roll Coupled Controller.
Corrections for height and
• Pitch Euler errors map to y and z
• Yaw direction foot forces.
21. LIDAR Leader Tracking
• Follow leader without direct driving and without GPS:
– Leader wears retro-reflective marker
– SICK LIDAR used to locate leader and generate steering signals
– BigDog follows at approximate fixed distance