美国波士顿公司BigDog机器人简介.pptVIP

BigDog OverviewNovember 22, 2008 ?2008 Boston Dynamics Engine Leopard go-kart engine One cylinder Two stroke Water cooled 9,000 rpm ~15 hp Electric starter Hydraulic System Variable displacement hydraulic pump (3,000 psi) ? Custom actuator package (x16) – Low-friction hydrodynamic seals – 2-stage electro-hydraulic servovalve – Position sensor – Force sensor Heat exchanger Various filters, manifolds, accumulators, and valves Hydraulic Actuator Package Hydraulic System Heat Exchanger 9.62 lbs Engine / Drive / Pump: 26 lbs / 1.42 lbs / 6.5 lbs Fuel tank / Fuel: 2.1 lbs / 10.4 lbs Oil tank: 3.6 lbs Sensors BigDog Sensors Type Quantity Location N Proprioception Exteroception Homeostasis 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 Software Architecture Software Processes 200 Hz 1,000 Hz 200 Hz Update Frequency: Log engineering data for performance development and failure analysis. Joint control, read sensors, command actuators, engine control. Main process. Balances and steers robot, odometry, communicates with operator. Description: Logging Servo Control Function: Vest Operator Control Unit (OCU) Control Principles Support -Bounce on springy legs Balance -Move legs with symmetry to achieve balance Posture -Keep body level using stance legs Control – BigDog Maintain Body Posture ? Control of body posture through force control Control – BigDog Maintain Body Posture ? Control of body posture through force control Maintain Ground Contact ? Force control through compliant leg shock * *