1. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Modeling of Hamster Wheel Passive Dynamic
Walker
by
SARVESH KUMAR SONKAR
Indian Institute of Information Technology
Roll No:IRO2013007
July 13, 2015
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
2. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Overview
1 Outline
2 Motivation
3 Introduction
4 Design and modeling
5 Analytical and Physical Modeling
6 Software and Hardware
7 Challenge and Analysis
8 Conclusion/Future Work
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
3. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Motivation
Mangalyaan
1 It was a low energy consumption project
2 Around 7 rupees per km (225300,000/450 cr.)
3 Reason : Gravity
1 No sensory input
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
4. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Introduction
Active Walking
1 ASIMO,NAO and most modern day bipedal robots perform
Energy problem and required lot of sensors
Quasi Stability is normally maintained
Type of Active Walking
1 zero movement Point (ZMP) Based walking
2 Foot Placement Based walking
3 Hybrid zero dynamic based walking (HZD)
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
5. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
ZMP Based walking
1 Stability depends on the ZMP (zero movement Point)
2 It is not robust.
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
6. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Foot Placement walker
1 More robust than ZMP based walking
ATLAS
PETMAN
SCHAFT
2 It will use in U.S army
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
7. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
HZD Based walker
1 It is point footed walker have one passive joint.
RABBIT
MABLE
MARLO
2 It has zero dynamic means depends on only high level
controlling.
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
8. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Passive Dynamic Walking
1 Zero Actuation
2 Robot is driven by its own dynamics
3 Passive dynamic walking (Autonomous system) is most similar
to human like gait
4 Passive means no control nor actuator unit
5 Many researcher are working on slope
A.Ruina, R.Tedrake, S.Collins,A Goswami
6 My approach deals with ......
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
11. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
CAD Modeling Of Hardware
Parameter Value
passive walker length 25.5 cm
Inertia 28420 gcm2
Radius of foot curve 2.5 cm
Mass of Passive walker 435 gram
Width of wheel surface 26.5 cm
Radius of wheel 29.5 cm
My Video
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
12. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Physical Concept
1 Human concept of walking
2 Rotation of wheel and normal reaction are shown in figure.
3 Wheel walker is using the natural force and control.
4 Wheel concept depends on the circular motion.
5 In this model when wheel is rotating along the axis . Due to rotational motion
passive walker moves inside the model
6 Energy transfer at the time walking
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
13. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Mathematical Approach
Some Basic Assumptions
1 Planar dynamics model
2 Only Energy loss is at Impact
3 Instantaneous Impact
4 Point Feet
5 FEP (Foot Estimated Point)
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
14. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Mass distribution in terms of body coordinates
Ppivot =
X0
Y0
(1)
Pmh = Ppivot + R(θ1) ×
L
0
(2)
Pm1 = Ppivot + R(θ1) ×
L − a
0
(3)
R(θ) =
cos(θ) − sin(θ)
sin(θ) cos(θ)
(4)
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
15. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Contd...
Pm2 = PmH + R(θ1 + θ2) ×
a
0
(5)
Pteo = Pm2 + R(θ1 + θ2) ×
L
0
(6)
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
16. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Webots Design
1 Two link walker design in webots6.4.1
Webots6.4.1 do not have Open dynamic engine(ODE).
Error in Importing VRML(.wrl) file
Unsorted auto-desk inventor file.
My video
My Video
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
17. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Simulation Results
Stability analysis.
1 Limit Cycle: Stable
2 Hip Trajectory : stable
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
18. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Count...
1 Hip Trajectory : Stable.
2 Hip Trajectory : Unstable.
3 Stable: Rotation of wheel
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
19. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Count...
1 Change the initial condition of passive dynamic walker
2 System become unstable and a periodic system
3 Chaotic system
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
20. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Challenges and Analysis
1 Problem
This wheel model is failed due to friction
Stability
2 Model : Unsuccessful
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
21. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Solution 1
1 Built a mild still model of wheel, called Hamster wheel
2 But hamster has four legs
3 Real model of wheel
4 Friction problem is remove by this model wheel.
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
22. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Behavior
1 Non Holonomic
2 Intermediate contact
3 under actuator
4 Non LTI System
5 HZD System
6 Conditionally double inverted and inverted pendulum
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
23. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Solution 2
1 For solving the problem using mechanical elements : springs
2 L shape structure is connected to the centre of the wheel and one end is connected to the
passive walker hip
3 Connecting the spring in both side (Parallel)
4 Calculation of stiffness of spring
5
F = K × X (7)
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
24. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Next problem
1 Mass distribution and design problem
Replace Wood by Metal
2 Remove mass distribution problem
3 But still problem in this model flat footed and keen
4 Design a keen model and without knee model.
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
25. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Solution 3
1 Due to not matching height of passive dynamic walker and
pivot height of wheel.
2 Again use wood structure with ballistic leg concept.
3 Inspired by the wind beast(wooden model)
4 I stop hardware modeling at this phase.
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
26. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Conclusion/Future Work
1 Energy efficient.
2 Hamster wheel passive dynamic walker development has been
done with the promising result of stability.
3 conceptually able to demonstrate the model and result.
4 System will help in perceptual system.
5 klann mechanism can be used to develop the model
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
27. Outline
Motivation
Introduction
Design and modeling
Analytical and Physical Modeling
Software and Hardware
Challenge and Analysis
Conclusion/Future Work
Bibliography
Feedback control of dynamic bipedal robot locomotion.
McGeer, Tad. ”Passive dynamic walking.” the international journal of robotics research 9.2
(1990): 62-82.
Coleman, Michael J. ”Dynamics and stability of a rimless spoked wheel: a simple 2D
system with impacts.” Dynamical Systems 25.2 (2010): 215-238.
Collins, Steve, et al. ”Efficient bipedal robots based on passive-dynamic walkers.” Science
307.5712 (2005): 1082-1085.
Supervisor: Prof.G.C Nandi Hamster Wheel Passive Dynamic Walker
