logging in or signing up climbing robots Nevada Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 418 Category: Education License: All Rights Reserved Like it (1) Dislike it (0) Added: January 04, 2008 This Presentation is Public Favorites: 1 Presentation Description No description available. Comments Posting comment... By: Senex (17 month(s) ago) The idea of ironing my climbing dressing just in time is interesting. I do non realize how the electric power could br available in that places. Anyway, the pictures are really spectacular. Good by, Senex Saving..... Post Reply Close Saving..... Edit Comment Close Premium member Presentation Transcript Toward Autonomous Free-Climbing Robots: Toward Autonomous Free-Climbing Robots Tim Bretl Jean-Claude Latombe Stephen Rock Special thanks to Eric Baumgartner, Brett Kennedy, and Hrand Aghazarian at the Planetary Robotics Lab, NASA-JPLGoal: Goal Develop integrated control, planning, and sensing capabilities to enable a wide class of multi-limbed robots to climb steep natural terrain.Generic vs. Specific Robot: LEMUR IIb, Planetary Robotics Lab, NASA-JPL Generic vs. Specific Robot Generic Specific Sitti and Fearing, UC BerkeleyPrevious Multi-Limbed Climbing Robots: Previous Multi-Limbed Climbing Robots Each exploits a specific surface property NINJA II Hirose et al, 1991 Neubauer, 1994 Yim, PARC, 2002Free Rock Climbing is about Natural Friction …: Free Rock Climbing is about Natural Friction …… and Non-Gaited Motion: … and Non-Gaited Motion Gaited Non-GaitedSlide7: Overall, rock climbing is about how to apply strength, not about strength itself it is a problem-solving activity Example System: Example SystemEquilibrium Constraint: Equilibrium Constraint Feasible positions of robot’s center of massConfiguration Space: Configuration Space For each combination of knee bends: Position (xP,yP) of pelvis Joint angles (q1,q2) of free limbFeasible Space: Feasible SpaceSlide12: Simple test for the feasibility of (xp,yp) where… Feasible SpaceSlide13: Simple test for the feasibility of (xp,yp) Feasible (1,2) varying with (xp,yp), in one half of f where… Qf Feasible SpaceSlide14: Simple test for the feasibility of (xp,yp) Feasible (1,2), varying with (xp,yp), in one half of f Switching between halves of f Feasible SpaceMotion Planning: Motion Planning Basic Approach (Probabilistic Roadmap) Sample 4D configuration space Check equilibrium condition Check (self-)collision Check torque limit Refined approach Sample 2D pelvis space, lift to full 4D paths Narrow passages are found in the 4D space Slide16: Achieve q2=0 Move with q2=0 Switch between halves of Qf Move with q2=0 Move to goalSlide17: backstep highstep liebackSlide18: JPL’s LEMUR robotCurrent Work: Current Work Terrain sensing and hold detection Force control and slippage sensing Uncertainty (hold location, limb positioning) Motion optimization Extension of feasible space analysis What’s Next?: What’s Next? Xtreme ironingSlide22: Xtreme ironing is one of the fastest-growing sports in the world You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.
climbing robots Nevada Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 418 Category: Education License: All Rights Reserved Like it (1) Dislike it (0) Added: January 04, 2008 This Presentation is Public Favorites: 1 Presentation Description No description available. Comments Posting comment... By: Senex (17 month(s) ago) The idea of ironing my climbing dressing just in time is interesting. I do non realize how the electric power could br available in that places. Anyway, the pictures are really spectacular. Good by, Senex Saving..... Post Reply Close Saving..... Edit Comment Close Premium member Presentation Transcript Toward Autonomous Free-Climbing Robots: Toward Autonomous Free-Climbing Robots Tim Bretl Jean-Claude Latombe Stephen Rock Special thanks to Eric Baumgartner, Brett Kennedy, and Hrand Aghazarian at the Planetary Robotics Lab, NASA-JPLGoal: Goal Develop integrated control, planning, and sensing capabilities to enable a wide class of multi-limbed robots to climb steep natural terrain.Generic vs. Specific Robot: LEMUR IIb, Planetary Robotics Lab, NASA-JPL Generic vs. Specific Robot Generic Specific Sitti and Fearing, UC BerkeleyPrevious Multi-Limbed Climbing Robots: Previous Multi-Limbed Climbing Robots Each exploits a specific surface property NINJA II Hirose et al, 1991 Neubauer, 1994 Yim, PARC, 2002Free Rock Climbing is about Natural Friction …: Free Rock Climbing is about Natural Friction …… and Non-Gaited Motion: … and Non-Gaited Motion Gaited Non-GaitedSlide7: Overall, rock climbing is about how to apply strength, not about strength itself it is a problem-solving activity Example System: Example SystemEquilibrium Constraint: Equilibrium Constraint Feasible positions of robot’s center of massConfiguration Space: Configuration Space For each combination of knee bends: Position (xP,yP) of pelvis Joint angles (q1,q2) of free limbFeasible Space: Feasible SpaceSlide12: Simple test for the feasibility of (xp,yp) where… Feasible SpaceSlide13: Simple test for the feasibility of (xp,yp) Feasible (1,2) varying with (xp,yp), in one half of f where… Qf Feasible SpaceSlide14: Simple test for the feasibility of (xp,yp) Feasible (1,2), varying with (xp,yp), in one half of f Switching between halves of f Feasible SpaceMotion Planning: Motion Planning Basic Approach (Probabilistic Roadmap) Sample 4D configuration space Check equilibrium condition Check (self-)collision Check torque limit Refined approach Sample 2D pelvis space, lift to full 4D paths Narrow passages are found in the 4D space Slide16: Achieve q2=0 Move with q2=0 Switch between halves of Qf Move with q2=0 Move to goalSlide17: backstep highstep liebackSlide18: JPL’s LEMUR robotCurrent Work: Current Work Terrain sensing and hold detection Force control and slippage sensing Uncertainty (hold location, limb positioning) Motion optimization Extension of feasible space analysis What’s Next?: What’s Next? Xtreme ironingSlide22: Xtreme ironing is one of the fastest-growing sports in the world