Professional Documents
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A Thesis
Presented to
The Academic Faculty
by
of a Thesis submitted by
Date: _________________
Date: _________________
Date: _________________
Date: _________________
Date: _________________
Date: _________________
Date: _________________
Date: _________________
ii
Dedicated
To
My beloved Master, My father,
mother, Sapana, Shipra and
Akanksha
ACKNOWLEDGEMENTS
I would like to express my sincere gratitude to my thesis advisor Dr. Atul Thakur. He
has given me excellent guidance and advice over the years here at IIT Patna. His
guidance helped me in all the time of research and writing this thesis.
Besides my advisor, I would like to thank the DPPC; Dr. Karali Patra, Dr.
Somnath Sarangi, Dr. Somnath Roy, Dr. M.K. Khan, Dr. Manabendra Pathak, Dr. S.S
Panda and Dr. Mayank Tiwari, for their encouragement, insightful comments, and
hard questions. I would like to convey my sincere thanks to all the faculty members in
the department of Mechanical and Electrical Engineering at IIT Patna.
My special thanks to the Center for Artificial Intelligence and Robotics,
DRDO for providing me an opportunity for internship and thereby enhancing my
skills and knowledge.
I would like to express my most sincere gratitude and deep regards to my
Co-guide Mr. Sartaj Singh, Sc E, Centre for Artificial Intelligence and Robotics, for
his guidance, monitoring and constant encouragement throughout the course of
project period.
I am very thankful to Mr. P. Murali Krishna, Sc E, Mr. Babu Jadhav, Sc D,
Mr. K Ramachandran, Sc C, Mr. Dharmendra Kumar Patel, Sc B at CAIR for their
valuable information and guidance through various stages, which helped me in
completing my internship project.
I also take this opportunity to express a deep sense of gratitude to Dr. Dipti
Deodhare, Sc G for granting me an opportunity to carry out the project at CAIR,
DRDO.
I thank my labmates Amrutesh and Delip and also I thank my friends
Sherbahadur, Nitin, Kapil and Amit for all the fun we have had in the last two years.
Last but not the least I would like to thank my family: my loving mother and
father, my sisters and Akanksha Tripathi who has always loved, supported, and
believed in me.
Certificate
This is to certify that the thesis entitled DESIGN, SIMULATION, FABRICATION
AND PLANNING OF BIO-INSPIRED QUADRUPED ROBOT, submitted by
ANAND KUMAR MISHRA to Indian Institute of Technology Patna, is a record of
bonafide research work under my supervision and I consider it worthy of
consideration for the degree of Master of Technology of this Institute. This work or a
part has not been submitted to any university/institution for the award of
degree/diploma. The thesis is free from plagiarized material.
________________________________
________________________________
Supervisor
Date: ______________
iv
Declaration
I certify that
a. The work contained in this thesis is original and has been done by me under the
general supervision of my supervisor/s.
b. The work has not been submitted to any other institute for degree or diploma.
c. I have followed the institute norms and guidelines and abide by the regulation as
given in the Ethical Code of Conduct of the institute.
d. Whenever I have used materials (data, theory and text) from other sources, I have
given due credit to them by citing them in the text of the thesis and giving their details
in the reference section.
e. The thesis document has been thoroughly checked to exclude plagiarism.
TABLE OF CONTENTS
LIST OF FIGURES
viii
LIST OF TABLES
xii
LIST OF SYMBOLS
xiii
LIST OF ABBREVIATIONS
xiv
ABSTRACT
1.
INTRODUCTION
1.1
2.
1.1.2
1.1.3
1.1.4
1.4 Objective
LITERATURE REVIEW
2.1
Overview
10
2.2
Snake robot
10
2.2.1
10
2.2.2
Amphibots
11
12
2.3.1
Scout
12
2.3.2
Takken-II
12
2.3.3
KOLT
13
2.3.4
Kenken-II
14
2.3.5
Big Dog
14
2.3.6
ELIRO-II
15
2.3.7
Shelley-RHex
16
2.3.8
Salamander
17
vi
3.
18
19
3.2.1
Biological inspiration
19
3.2.2
Robot design
21
26
27
27
4.2.1
Frame assignment
27
4.2.2
D-H parameters
28
4.2.3
Forward kinematics
28
30
30
32
33
34
38
38
38
38
40
43
43
44
45
50
51
52
54
vii
55
55
55
56
58
60
62
63
63
64
67
69
70
8.
74
75
75
67
76
77
79
81
81
7.4.1 Construction
81
83
84
86
87
89
90
8.3.2
90
8.3.3
93
102
103
104
References
ix
LIST OF FIGURES
Figure No.
Page
Figure 1.1 (a) Sprit wheeled robot sticking on sandy surfaces (courtesy to
NASA) (b)Big Dog robot is moving on sandy surfaces (courtesy
to Boston Dynamics) (c) Sketch of legged machine obtained
Rygg from the planar drawing in (Artobolevsky, 1964) (d)
Mechanical horse patented by U.S. Patent No. 491,927 dated
Feb. 14,1983 (e) The Adaptive Suspension Vehicle (ASV)
(photograph courtesy of Professor Waldron) (f) PV-II walking
robot (courtesy of Professor Hirose)
Figure 1.2 (a) Leg design of crocodiles and alligator (b) Leg design
mammalian
snake-like
robot
"ACM-R5"(courtesy
to
12
12
13
Figure 2.5 KOLT robot (courtesy to bio-robotics lab Stanford and Ohio
University)
13
14
15
16
17
17
18
Figure 3.2 (a) Type of limb and segments of alligators leg (b) Anatomy of
pelvic limbs (c) Anatomy of pectoral limbs
19
20
21
22
23
24
25
26
28
30
31
32
Figure 4.5 (a) Frame assignment on body (b) Frame assignment on leg
38
Figure 5.1 Quadruped gaits (a) Top view of a robot (b) Graph of leg
sequences (c)(h) sequences
51
52
Figure 5.3 (a) Gait sequencing of crawl gait (b) Gait diagrams of crawl
gait (c) Successive gait pattern of a two-phase discontinuous
gait
53
Figure 5.4 Trot gait sequences (b): Gait diagram of trot gait sequences
54
Figure 5.5 (a) Bound gait sequences (b) Gait diagrams of bound gait
sequences
55
56
57
58
Figure 5.9 Geometric view of quadruped when it lifts its 1st leg
58
Figure 5.10 Geometric view of quadruped when it lifts its 2nd leg
59
Figure 6.1 (a) Simplified CAD model of mammal (b) Simplified CAD
model of alligator (c) Defined joint and motion in Adams(d)
Plant generated by Adams(e) Simulink model of close loop
control for simulation
62
63
Figure 6.3 (a) CAD model of leg imported in Adams (b) Desired angular
position achieved (c) Torque required for robot leg
Figure 6.4 (a) CAD model of alligator-inspired robot imported in Adams
(b) Desired angular position achieved by Knee joint(c) Desired
angular position achieved by Hip joint(d) Distance travelled by
xi
64
67
Figure 6.5 (a) CAD model of mammal-inspired leg imported in Adams (b)
Torque required for robot leg at joint 1 (c) Torque required for
robot leg at joint 2 (d) straight line trajectory of 3dof leg with
via point (e) For straight line trajectory of 3dof leg with via
point
69
Figure 6.6 (a) Model based control in joint space for dynamic analysis
quadruped robot (b) Torque control simulation results
70
Figure 6.7 (a) CAD model of mammal -inspired robot imported in Adams
Figure 6.8
71
(d)
Torque
required
in
crawl
gait
72
Figure 6.9 (a) Velocity achieved in the trot gait implementation (b) Torque
required in trot gait implementation by robot joints (c) Reaction
forces from the ground crawl gait implementation
73
Figure 6.10 (a) Velocity achieved in the bound gait implementation (b)
required in bound gait implementation by robot joints
74
Figure 6.11 (a) Maximum shear stress and von misses stress of leg FEA
simulations (b) Maximum shear stress and von misses stress of
whole body FEA simulations
75
76
part (vi) Leg of the robot (vii) Battery required (viii) Leg
coupling
79
Figure 7.2 (a) Assembled modular joint (b) Assembled modular joint
section model
83
Figure 8.1 The coordinate frame, BODY, used here for kinematic analysis
is the same as that used for standard analysis of any
vehicle/locomotion dynamics
85
85
Figure 8.3 Flow chart communication for master, slave card and PC of
quadruped
86
Figure 8.4 (a) Proteus simulation of shield (b) Shield developed front view
(c) Shield back view (d) Arduino UNO
88
89
Figure 8.6 Flow chart communication for master, slave card and PC of
quadruped
89
92
Figure 8.8 (a) PWM generation (b) Encoder testing (c) Servo loop based
motion control (d) Servo loop and trajectory based motion
control
101
Figure 8.9 (a) Single axis motion control hardware (b) Motion control
implemented
102
Figure 8.10 (a) Robot speed vs delay time (b) Robot speed vs Hip angle
Figure 9.1
amplitude
102
103
xiii
LIST OF TABLES
Figure No.
Page
20
22
25
26
28
38
77
77
90
xiv
LIST OF SYMBOLS
Over all efficiency
Twist angle
Link length
Link offset
Link rotation
Leg position at the end
Inertia force
Duty factor
Mass matrix
Stride length
Stroke length
No. of legs
yaw movement
Linear acceleration
xv
LIST OF ABBREVIATIONS
CAD
CAN
COM
Centre of mass
DOF
Degree of freedom
FEA
LxWxH
PID
PWM
MBD
Multibody dynamics
SSM
PR
Priority resister
D-H
Denavit-Hartenberg
MSS
PMMA
Polymethy methacrylate
ABS
LLC
MLC
HLC
CNA
COG
Center of gravity
SLSM
CSP
SCLSM
xvi
ABSTRACT
xvii
xviii
CHAPTER 1
INTRODUCTION
1.1.
According to Raibert, only half of the earth's land mass is currently accessible by
wheeled or tracked vehicles, with a much larger fraction being accessible to legged
creatures. Legged robots often offer some advantage over wheeled robots
[1]
. For
example, wheeled or tracked vehicles are restricted by the roughness of the terrain
which they must traverse (see Figure 1.1(a), (b)).
Wheeled robots require a continuous path of support. On the other hand, legged
robots can traverse highly uneven terrains as they require point contacts between the
legs and the terrain. In addition, legs can serve as an active suspension system helping
to decouple terrain variations from body movements thus smoothing locomotion.
Some of the legged robot design challenges include incorporation of leg and
body compliance, multi-sensor integration, vibration resistance, dynamic and static
stability, onboard power supply. Control of legged robots also present a unique
challenge of gait planning for various terrain types. This is because of high
nonlinearity and discontinuous nature of the dynamics of the legged robots.
Active suspension
Gait planning for the highly rugged terrain is very difficult task.
1.2.
Legged locomotion is one of the most successful locomotion patterns found in the
Nature. Evidence of first locomotion among biological organisms is around 585
million years old. This means that it took the evolution process around 585 million
years to evolve various forms of walking gaits. Quadruped walking in many mammals
and reptiles have made them very successful in surviving against tough environments
such as uneven terrains. In comparison, humans invented wheel-based locomotion
around 4000 years ago. Nature evolved legged locomotion instead of wheels because
more than half of Earths landmass cannot be traversed by wheels, even today. It is
thus the imperative for the roboticist to learn the design and gait patterns from the
phylogenetic analysis of biological organisms and try to mimic them as closely as
possible to improve the performance of existing robots.
In this report, design and simulation of an alligator-inspired and mule inspired
robot have been accomplished. Robot exhibits a particular type of reptilian
locomotion and mammalian locomotion. Alligator locomotion is generally considered
as an intermediate step in the evolutionary paradigm of vertebrate locomotion
[3], [4]
At one extreme, are the amphibians and lizards who are natural sprawlers. Their limbs
are held laterally to the body. At the other extreme, are the mammals and dinosaurs
exhibiting erect locomotion posture (ELP). Humans exhibit ELP too. In ELP, limbs
are held directly under the body. Reptilian locomotion posture of crocodiles and
comes largely from tetra pods - both reptiles as well as mammals (See Figure 1.2 (a)
and (b)
Note the ball-and-socket joint provided at the knee and hip about which rotatory
actuation takes place which results in locomotion. The approximate perpendicular
orientation of the coordinate frames attached to the hip and knee joints is the salient
feature of all members of the order Crocodilia. Note also the approximate parallel
orientation of the coordinate frames attached to the hip and knee joints. For walking
robots, both static and dynamic walking as well as both active and passive walking
has been extensively researched
[15]
1.3.
In this thesis, we are focusing on quadruped robots, which belong to the broader class
of legged robots as described earlier. In quadruped robots there are four legs, each leg
should have minimum two degrees of freedom. However, some quadruped robots
may have higher degree of freedom legs too. Quadruped robots can walk and run but
standing still it must be passively stable. The main challenge of quadruped robot is to
maintain stability by actively shifting body weight during the gait.
The quadruped robots described in this thesis are inspired from two types of animals,
namely, mammals and reptiles. Mammalian type locomotion has an advantage that
they can move faster due to geometrical configuration of leg joints. Some examples of
mammalian locomotion based robot include ABIBO robotic dog, robotic cheetah etc.
Another advantage of mammalian type four-legged robots is an ease in gait transition.
Mammal inspired robot thus have a potential to serve as useful platform for research
in Human-robot interaction (see Figure 1.3 (a)). Reptile-inspired robots have
relatively slower speed but higher static stability (see Figure 1.3 (b)). Quadruped
robots can be used for civilian and military purpose to carry heavy loads.
1.4.
Objective
The thesis has been carried out partly at IIT Patna and CAIR, DRDO Laboratory. The
objectives of each part of the thesis are outlined below.
IIT Patna
Kinematics analysis of alligator-inspired quadruped robot.
dynamic.
Design single axis motion control for mammalian-inspired quadruped
Embedded Control Software for mammalian-inspired quadruped
1.5.
hardware and software part both and 3 layer control architecture is used for alligator
inspired quadruped robot
Chapter 9 contains a summary of important conclusions and scope for future work in
the area of bio-inspired quadruped robots.
CHAPTER 2
LITERATURE REVIEW
2.1. Overview
This chapter presents a review of the state of art in the area of bio-inspired robotics.
This review investigates the current methods of terrestrial locomotion based and
amphibious robots. It will cover the scope and application of these robots.
10
Figure 2.1(a) Amphibious snake robot "ACM-R5"(courtesy to Fukushima Robotics Lab, Japan) [18]
grip onto the next robot. Thus the self sufficient modules form a chain and
accomplish tasks like climbing the stairs or crossing a ditch.
2.2.2. Amphibots:
i.
Amphibot 1: This is a modular robot developed in the quest to find new robot
designs which could exhibit dextrose locomotion. Each link was made to be slightly
buoyant and the center of mass of each link was purposefully kept slightly lower than
the geometric centre of mass so that during idle conditions, the snake could float and
obtain vertical orientation [19].
Figure 2.1(b) Amphibot 1 snake robot (courtesy to Bio robotics lab, EPFL) [19]
ii.
simplified and new powerful motors were equipped. An electronic suite was
introduced which could handle up to 127 segments theoretically. The robot used
removable wheel sets to achieve ground motion [20], [21].
11
Figure 2.1(c) Amphibot 2 snake robot (courtesy to Bio robotics lab, EPFL) [20]
2.3.1. Scout
Martin Buehler in 1990s, at Ambulatory Robotics Lab (ARL) of McGill University
started developing the Scout robot series. In 1999 he presented, a quadruped robot
Scout II (Figure 2.3) which was dynamically stable and had a very simple mechanical
design. This robot had one active rotational joint at each leg located at the hip with the
help of which it was able to rotate the leg in the sagittal plane. The leg is divided into
two parts-upper and lower legs. These parts are connected by a spring to form a
compliant prismatic joint. It weighed around 27kg and has 0.55m x 0.48m x 0.27m
(LxWxH). After some year, Scout II, with a forward velocity of up to 1.3 m/s, was
able to perform a stable bounding gait [23], [24], [25].
Figure 2.3: Scout robot (courtesy to CIM lab, McGill University) [23]
2.3.2. Takken II
Hiroshi Kimura and colleagues had developed a quadruped robot Patrushand, later
Tekken series. These robots are a central pattern generators (CPG) based robot and
have joint reflexes. It is mainly used to study controllers which are biologically
inspired. In Figure 2.4, Tekken II is shown; it is a small quadruped robot having
12
length of 0.3m length and weight of 4.3kg weight. Mechanical springs are adding
compliance to the joints whereas it is actuated by electric motors [26], [27].
Figure 2.4 Tekken II (courtesy to Professor Hiroshi Kimura and group) [27]
2.3.3. KOLT
Kenneth Waldron and his group at Stanford University in collaboration with Ohio
State University had developed the KOLT robot shown in Figure 2.5. The quadruped
robot has a weight of about 80kg and has the following dimensions: 1.75m x 0.6m x
0.8m (LxWxH). Robot has electric actuation with mechanical springs. In running
experiments, the robot was attached to a boom that permitted free motion in the plane
and it was found that the robot performed stable trotting with 1.1m/s on a treadmill
[28], [29], [30], [31]
Figure 2.5: KOLT robot (courtesy to bio-robotics lab Stanford and Ohio University) [29]
13
2.3.4. KenKenII
In 1998, a hydraulic quadruped robot was developed by Sang-Ho Hyon with his
colleagues at Tohoku University (Japan). They had first built the monopod robot
KenKenI and later a biped version KenKenII (Figure 2.6), but an actual quadruped
robot was never constructed. Nevertheless, they managed to achieve impressive
results [32], [32], [33].
Autonomous power
Outdoor operational
Able to jump over a 1m ditch, climb 45 (100%) slopes, run at 5m/s, and carry over
50kg payload.
14
The robot presented in 2005 (BigDog 2005) was 1m in length and 0.3m width, and
had a weight of about 90kg. It had four legs each having four DOF: hydraulic
cylinders are powered by three active rotational joints and one passive linear joint in
the foot based on a pneumatic spring [34], [35], [36].
2.3.6. ELIRO-II
Kyungpook National University came up with a robot gait built to incorporate
discontinuous twisting at the waist. Many natural walking gaits incorporate a central
DOF at the spine, which increases speed and stability, especially while turning. A
systematic approach was taken and following assumption were made that is, the robot
would be on flat terrain, parallel to the ground, with mass less legs, a uniform
mass of the body, and a single degree of freedom along the z-axis at the center as
the waist joint. From these set of assumptions, the kinematics was determined,
nothing especially that in a non rigid body an optimal hip position can be created.
Based on these kinematic observations some additional features were drawn, the
stride increases drastically from a rigid body, maneuverability in unfavorable
situations was greatly improved and the general gait stability was improved. In gait
planning, ten time steps were used with the center of gravity shifted at varying
intervals; the bending angle for the center and the leg order were varied. Eventually
the conclusions from this were used in a quadrupedal robot with 3 DOF pantograph
legs called ELIRO-II. This robot achieved stable turning on flat ground and it is noted
15
2.3.7. Shelley-RHex
Shelley is a branch of RHex. It is designed from a mechanical perspective with the
goal of amphibious movement without any increase in weight or size. To accomplish
this, the frame of RHex was replaced with a closed shell formed from carbon fiber
into a curved shape for hydrodynamics and impact resistance, with Neoprene to
dampen impacts and vibrations. Some waterproofing issues arose from the power
switch, antenna, access panel and motor connection which were fixed by various
solutions such as adding clamping force and waterproof material, encasing the entry
port with silicone and O-rings. Shelley was able to achieve surface swimming. In the
water, the AQUA can achieve swimming speeds up to 1.0 m/s or approximately 1.54
BL/sec. It achieves swimming motion by creating small oscillations. If it engages all
six legs, it has the capability to control five degrees of freedom directly: surging,
heaving, pitch, roll and yaw are all possible. Phase offsets are used to change between
gaits with amplitude offsets used for pitch and roll and a change in amplitude scale
factor between the sides used for yaw half circle [38].
16
2.3.8. Salamander
The salamanders robot is amphibious robot which can perform walking and
swimming gaits. It uses primary actuator for the center spine. It swims by body
undulation to create a wave for the propagation while in walking it uses terrestrial
gaits with the help of its leg. By using some assumptions, a robot was created with ten
actuators, four for the legs and six for the body. Using a central pattern generator
comprised of 16 to 32 oscillators as the gait basis. Relationships between each were
defined by matrices of weights and modeled in formulae representing the phase and
amplitude of any given oscillator as well as the positive signal representing the central
burst action. In creating this robot, it was shown to be consistent with the actual
salamanders movement in both walking and swimming. Ultimately it is noted that
the central pattern generator concepts used here would be very helpful in general
robotics, given that the dimensionality of a control problem may be reduced [39].
Figure 2.10: Salamander robot (courtesy to Bio robotics lab, EPFL) [39]
17
CHAPTER 3
Design
optimization
Kinematic and
dynamic modeling
Control
Gait Planning
Robot
Dynamic simulation
Fabrication
FEM analysis
and simulation
Using FEM, we validated the design to determine whether the model can withstand
loading under different type of terrains. In addition, the concurrent multibody
simulation and FEM analysis helped us in optimizing the design. Next sections will
cover the design of alligator-inspired robot and mammal inspired robot.
18
3.2.
We developed the equivalent design inspired by the alligator, however we have not
mimicked robot as actual alligators (see Figure 3.3) because of the leg design of
alligators are very complex and fabrication and material selection of a same structure
is very challenging so we developed simplified model of leg design. We developed
19
the leg on the scaling factor of the body length, mass of the alligators. Researchers
have done the scaling analysis on the basis of these parameters, see Table 3.1
We have developed the symmetrical legged design of our robot. Here pectoral limb
design and pelvic limb design is same whether it is not same as in alligators that is
basically categorized in hip limb and knee limb. Hip and knee limb lengths of robot
are 0.38th of the body length of the robot. The mass of the robot is 0.7kg and body
length of the robot is 0.26 m. Legged and body thickness of the robot is 3mm, (see
Figure 3.4) [40]..
Table 3.1: Alligators length and masses
SN
STL
TL
PL
HL
UL
ML
PVL
FL
TBL
PL
12
0.27
0.33
0.104
0.038
0.028
0.037
0.131
0.04
0.037
0.052
0.52
15
0.29
0.33
0.104
0.042
0.028
0.035
0.135
0.044
0.039
0.05
0.58
11
0.29
0.35
0.109
0.042
0.031
0.04
0.14
0.044
0.037
0.054
0.67
13
0.31
0.38
0.119
0.044
0.033
0.041
0.156
0.049
0.042
0.061
0.75
14
0.32
0.38
0.122
0.044
0.033
0.04
0.152
0.048
0.041
0.054
0.86
0.47
0.55
0.167
0.068
0.047
0.062
0.219
0.075
0.06
0.087
3.20
0.51
0.56
0.148
0.072
0.055
0.061
0.233
0.078
0.022
0.096
3.50
Specimen No. =SN, Ulna length (m) = UL, Manus Length (m) =ML, Pelvic limb length =PVL
Femur length (m) =FL, Tibia length (m) =TBL, Pes length (m) = PSL, Mbody(Kg) =m, Length snout to
tail base (m) = STL, Tail length (m) =TL, Pectoral Limb length (m) =PL, Humerus length (m) =HL
20
into two parts. Robot has given passive compliances (springs) which will move
the body in vertical direction and constraint into the horizontal direction and
developed robot with compliance in the body which will be help to the robot make
more energy efficient and it will help to robot for taking turn. CAD model and
design specification of robot is shown in the Figure 3.5 and Table 3.2.
21
Characteristics
Value
Mrobot
700g
300g
15 g, 15 g
15 g, 15 g
Width
100 mm
Length
260 mm
Limb length
100 mm
40 mm
40 mm
10
Centroid coordinate
(50,130,-110)mm
11
100 mm
12
0.133m/s
13
0.51BL/s
14
Spring stiffness
3940 N/m
14
Gait
Trot , crawl
22
Figure 3.6: Pro\E design alligator-inspired robot with Isometric view, Front view, Side view and
Top view
23
(3.1)
For torque at joint 1
Here only friction will come into the picture so the net torque at joint1 will be
(3.2)
(3.3)
Net torque at joint 1 =
(3.4)
(3.6)
, and
And from MBD simulation in section 6.3.2 we are getting reaction forces
From equation (3.2)
24
=15 N
Here
At 90
Operating Voltage
4.8-6.0 Volts
5.5 kg/cm
7 kg/cm
Weight
41g
Dimensions
41x20x36mm
Material used for structure is aluminum. The total weight of the robot is 58kg
approximately without consideration of power supply. Design of robot structure is
modular and flexible. No permanent joint (e.g. Welding or riveting) is used in
mechanical structure. Controller of the robot is kept into the universal joint and it has
used 12 slave controllers for 12 joints and all controllers are directly connected to
master controller. The design of robot was already developed by the team and I
contributed the simulation and control of part of the development of the robot which
is discussed in next section. CAD model of robot design and specification shown as
follows (see Figure 3.9 and Table 3.4)
Characteristics
Value
Mrobot
Mmotor+ Mextra
Width
Length
Leg, link 1 length
Leg, link 2 length
Leg, link 3 length
Centroid coordinate
Maximum speed Vmax
Body length per second, BL/s
Gait
20kg
1.5 g
360 mm
720 mm
80 mm
400mm
400mm
(-360,-180,-720)mm
4 m/s
1.66 BL/s
Trot , crawl, bound
26
CHAPTER 4
Introduction
The mechanism of walking robot is very complex due to many DOF. Kinematics and
dynamic modeling are requiring before simulation. Kinematics model describes joint
variables, leg position and velocities however dynamics model helps to determine the
torque and forces at the joint, body and ground. This chapter contains kinematic,
dynamic analysis, trajectory planning and Jacobian analysis of the quadruped robot.
Kinematic analysis is covered forward kinematics and inverse kinematics of robot. To
define the robot kinematics first we need to derive D-H parameters using geometrical
configurations of robot and for dynamic analysis and robot smooth motion, velocity
Jacobian and trajectory planning are required. In the following section kinematic and
dynamic modeling of alligator inspired robot and mammal inspired robot has been
discussed [42].
4.2.
27
Proper color coding is done for representing each axis of frames, Red is used for z
axis, green for y axis and blue for the y axis. I have assumed the direction of each
frame is same due to reduce the extra calculation except body frame.
Twist
angle
Link
length
90
Link offset
Link length
(4.1)
(4.2)
(4.3)
Final transformation from 0th frame to 3rd frame for quadruped leg from leg frame
(4.4)
(4.5)
(4.6)
Similarly the transformation for remaining three legs will be same because we have
taken the assumption frame assignment of all leg is same for reducing the calculation.
That means there is no need to calculate the transformation of the all legs.
(4.7)
(4.8)
(4.9)
29
4.3.
In this section we discussed the Jacobian matrix for all joints of each leg. Linear
velocity can describe by a point while angular velocity can be a body. Jacobian is
always associated with the angular velocity and describes the linear velocity. We
considered the 0th frame of robot leg is as a reference. Our calculation is done on
arbitrary links like {i}. Hence,
and
is the angular velocity of link frame {i}. The velocities of link i+1 will be that
of link i, plus whatever new velocity components were added by joint i+1 (see the
Figure 4.2).
(4.12)
4.4. Trajectory planning for quadruped leg
Leg movement describes by using trajectory planning of the robot in three
dimensional spaces. Here, trajectory refers to a time history of position, velocity and
acceleration for each degree of freedom. When we simulate legged of quadruped
without their trajectory planning. We found leg is moving randomly with sudden
30
(4.13)
,
,
(4.14)
,
31
(4.15)
-segment 1 t=0 to
-- segment 1 t=
(4.16)
to
(4.17)
From eq. 4.13, 4.14, 4.15 put the value in eq. 4.17, 4.16. We get
,
(4.18)
,
(4.19)
(4.20)
(4.21)
(4.22)
,
32
(4.23)
Segment 1 t=0 to
Segment 1 t=0 to
(4.24)
(4.25)
From eq. 4.13, 4.14, 4.15 put the value in eq. 4.24, 4.25. We get. We get each cubic
will be evaluated over an interval starting at t=0 and end t=
and i=1, 2
(4.26)
(4.27)
34
(4.30)
Value of angular and linear joint acceleration from eq. 4.28, 4.29
For link0
(4.31)
(4.32)
For link 1, i= 0;
(4.33)
(4.34)
For link 2, i= 1;
(4.35)
(4.36)
(4.37)
35
(4.38)
Having computed the linear and angular accelerations of the mass center of each link,
we can apply the NewtonEuler equations to compute the inertial force and torque
acting at the center of mass of each link. Thus we have
(4.39)
(4.40)
Here
link
37
+90
are joints angles of the quadruped leg for joint 1 and joint 2 and joint 3 D,
L1, L2 are link lengths of the robot for joint 1 and joint 2 and joint 3.
38
,
(4.54)
Similarly the transformation for remaining three legs will be same because of
assumption for frame assignment of all leg is same as one which is reducing the
calculation.
There will be one rotation about y axis for transformation of body to leg frame and
three translations Px, Py and Pz. Rotation from y axis will be same for each leg due to
assumption but the translation will be different for all legs. Magnitude of the
translation will be same for the legs only direction will be different.
about y axis and generalized transformation
is rotation
(4.56)
39
=is a angle of rotation about y axis .this matrix will be same for all leg
transformation.
=distance from the center of the body to leg frame in x direction
=distance from the center of the body to leg frame in y direction
=distance from the center of the body to leg frame in z direction
,
is different for each leg then transformation of body frame to leg frame for
thats
th
(4.61)
(4.62)
After solving the equations 4.60, 4.61, 4.62 we can find the all joint angle of the leg 1
40
(4.63)
(4.64)
Take square of equation 4.64, 4.62 and add them we found the third joint angle
(4.65)
(4.66)
(4.67)
Multiply with equation 4.62 with 4.6 and equation 4.64 with 4.67, we found the 2nd
joint angle
(4.68)
Here we have two solutions for joint 3 and two solutions for joint 2. Inverse kinematics for
In this case all the inverse kinematics solution for all leg should not be same. Here I
am going discuss inverse kinematics for only one leg (leg 1). Method of finding a
solution of leg joint is same as earlier discussed in above sections. Here I also
preferred the algebraic method. From algebraic method we assume a new matrix of
4x4 thats equal to pth frame to 4th frame transformation.
(4.70)
Multiply the inverse of 1st transformation matrix in both side of the equation 4.70
(4.71)
Compare the value of both side of equation (4.71). we found the three equations
independent with r
41
(4.72)
(4.73)
(4.74)
(4.75)
Divide the equation 4.72 and 4.73. We get the first joint angle of the quadruped
(4.76)
Where
b=
or
or
a=
or
b=
or
or
a=
or
,
Here we found the two solution of the joint 1 for 1st leg and take square of the 4.72
and 4.74 and add these equations.
(4.78)
=S-d
(4.79)
(4.80)
Take square of the equation 4.74 and 4.80 and add these equations it we get the joint
angle 3
(4.81)
Multiply the equation 4.80 by P1 and equation 4.74 by P2 then we get the third joint
angle
(4.82)
42
From the body frame we got the 6 number of solution two solution for each joint angle. In
4.7.
This section discusses Jacobian matrix for all joints of each legs. Here we have
Jacobians for leg and body frames.
(4.86)
(4.87)
For link 2
(4.88)
(4.89)
For link 3
(4.90)
(4.91)
For end point of link3 and frame 4
There is no joint at the 4th frame then
43
(4.92)
(4.93)
Jacobian for quadruped leg from 0th frame to 4th frame
(4.94)
(4.95)
(4.96)
(4.97)
(4.101)
44
(4.102)
4.8.
In the dynamic analysis is same as the explained in section 4.5. Here we are writing
the direct equations. Putting all the values in equation 4.28 and 4.29 we get the
angular acceleration and linear acceleration of all links and joints
For link0
(4.103)
For link 1
(4.104)
For link 2
(4.105)
For link 3
(4.106)
45
(4.107)
For end point of link3 and frame 4
There is no revolute joint at the 4th frame then
(4.108)
But linear velocity will be different due to the angular velocity of joint 3 at 4th frame
is
(4.109)
After getting the accelerations on each joints then we derived the acceleration at
center of the links. From the equation 4.30 we get all the acceleration of center of
each links.
For center of link 1
(4.110)
46
(4.111)
(4.112)
, ,
(4.113)
(4.114)
47
(4.115)
(4.116)
48
+
+
49
CHAPTER 5
Introduction
In order to make the mechanisms walk it is essential to perform a leg and body motion
sequence called gait. Since many years gait has been researched however, for a long
time the results functioned on surfaces with very favourable conditions: flat and level
terrain. The observation, comprehension and mathematical formulation of ordinary
natural gaits were the main focus on legged locomotion and it was found that many of
these motions are periodic in nature.
They categorized the motion into two way periodic and non periodic (free gaits). It
was ultimately found that the motion pattern of the quadruped robot is periodic in
nature. Another characteristic of this type of gaits is continuous gait, in which the
body moves with constant motion while all legs move simultaneously. For an uneven
terrain, mammals and insects generally use a special kind of continuous gait called
wave gait, at a low speed.
Many researchers have developed the mathematical formulation of continuous gait of
quadruped robots. Researchers had defined the duty factor, stroke length and phase
for legged of quadruped robots. In 1968 and 1989 (McGhee and Frank, 1968; Zhang
and Song, 1989) formulated a mathematical model so that they could describe the
sequence of leg and derive the model to perform crab and circular gaits, in case of flat
terrain conditions. They had also developed, in a specific uneven terrain, the
mathematical formulation for continuous gaits.
It was found that the mammal and insects change their gait pattern on sharp
irregular terrains, thus they defined it as a secure gait and it is characterized by the
sequential motion of legs and body [42]. The body is pushed forward/backward with all
of the feet properly positioned on the ground and then leg is moved with all other
three legs and body remaining stationary, these gaits are called discontinuous gaits.
For causing intermittent body motion which is beneficiary to a real legged machine:
they are very easy to implement and they provide longitudinal stability margin which
is greater as compared to wave gaits. Also, they could achieve a faster velocity than
wave gaits.
50
5.2.
Gait synthesis
In this section only I will consider the standard gait sequence which nowadays people
are using for four legged robots. The dictionary meaning of gait is a method of
moving on foot. In the field of legged locomotion, a gait is defined as a repetitive
pattern of foot placements (Todd, 1985). More precise definition given by Song and
Waldron (1989), as follows.
A gait is defined by the time and the location of the placing and lifting of each
foot, coordinated with the motion of the body in its six degrees of freedom, in
order to move the body from one place to another. McGhee and Frank were
focused on the mathematical formulation of gait sequences. These researchers focused
on finding the quadruped gaits to maintain static stability. For this study, McGhee
introduced a notation called the event sequence. An event is defined as a foot
placement or a foot lifting. Quadruped results for event sequence in only six event
sequences (see Figure 5.1 (b)) and illustrated in Figure 5.1 (c)(h). In this example,
with the movement of foot 4, the locomotion cycle starts. Leg numbers are indicated
in Figure 5.1 (a). For numbering the legs we use front to rear, we use even numbers
for right legs and odd numbers for left legs [2].
Tomovic (1961) defined, in case of creeping gait, that it is an n-legged robot and
every support pattern involves at least n1 contact points. Hence, gaits in Figure5.1
are creeping gaits. It has three feet in support. Creeping gaits may be either singular or
non-singular.
Figure 5.1: Quadruped gaits (a) top view of a robot (b) graph of leg sequences (c)(h) sequences[2]
51
Based on existing research on animal locomotion, we can categorize the gaits into two
types, namely, periodic and non periodic (see the Figure 5.2).
transfer leg (see Figure 5.4 (c)) In this way, it will be possible to lift another leg
while maintaining the machines stability.
The sequence of legs should be periodic; this will allow several locomotion
cycles to be joined to follow a path.
Graphical representation of gaits sequences has shown in the Figure 5.5(b) and here
we for crawl gait duty factor .75. Minimum value of duty factor for static stable gaits
is .75 for four legged robots
Figure 5.3 (c): Successive gait pattern of a two-phase discontinuous gait [2]
53
54
5.3.
McGhee and Frank in 1968 had provided the first definition for static stability for
ideal walking robot, which eventually had led to the research on walking-robot
stability. An ideal robot is statically stable if the horizontal projection of its center of
gravity (COG) lies inside the support pattern. For An ideal robot it is important to
have a mass less legs, and system dynamics are assumed to be absent. The idea of
static stability was inspired by insects which use their massless legs to simultaneously
support their body during walking and provide propulsion. Hence, in order to move
the body while maintaining balance, their sequence of steps is arranged to ensure
static stability. The motion of these quadrupeds can be extended only to even terrain,
because the stability criterion is based on the zero moment point which is valid for
that kind of surface only. The mechanical simplicity of these designs makes the robot
useless for real applications. Research on legged locomotion was meant for utilized its
advantage for industrial and social purposes, such trot and gallop will not be meant
for those applications [45].
5.3.1. Introduction
McGhee and Frank in 1968 had proposed the first static stability criterion for an ideal
walking robots at constant speed along a constant direction and over flat, even terrain
.As per the Center of Gravity Projection Method the vehicle is statically stable if the
horizontal projection of its COG lies inside the support polygon (defined as the
convex polygon formed by connecting footprints). Later McGhee and Iswandhi, in
1979 applied this to uneven terrain (by redefining the support polygon as the
horizontal projection of the real support pattern). The static stability margin (SSM)
was defined for a given support polygon as the smallest of the distances from the
55
Figure 5.6: Support polygon and different static stability margins [2]
can is depends on the geometry of the robot but It does not depends on
and
geometry of straight line. With the help of straight line equation we can calculate the
and
2
6
0
5
When first leg is in air then slop of the diagonal line (1, 2)
(5.1)
Here we assume the center of gravity of the robot is at center of the body. When robot
will walk position of center of gravity of will be change but with the help of sensor
we can get new position of the centroid.
Distance (P) =
(5.2)
Form the Figure 5.7 the line 5. 6 are perpendicular to the line 3, 2. So we can write
(Slope of line 3, 2) * (slope of line 5, 6) = -1
Assume point (
(5.3)
(5.4)
(5.6)
(5.7)
The above stability criteria are all based on geometric concepts; SSM, SLSM and
SCLSM are independent of COG height and consider neither kinematic nor dynamic
parameters. Intuitively speaking, the stability of a non ideal walking machine should
depend on those parameters.
57
Figure 5.9: Geometric view of quadruped when it lifts its first leg
When robot will lift first leg the CG of robot will be shift. If the cg point is satisfying
the equation that means CG lying on the diagonal line (3, 2), if it is outside of the
58
triangle means right side of the diagonal line (3, 2) we will get so positive value of
stability margin and if it is under the triangle or left side of the diagonal line (3, 2)
stability margin will be negative.
(5.9)
(5.10)
(5.11)
Case2. If robot lifts its second leg or 3rd leg
All the process of calculation is same as explained in case 1 and only difference is that
in this case stability margin will be measured from the outside the polygon
Figure 5.10: Geometric view of quadruped when it lifts its 2nd leg
59
CHAPTER 6
Introduction
This chapter will be discussing about the multibody dynamic simulation (MBD), FEA
analysis of quadruped robot. This simulation chapter will consists of leg simulation of
robot, full body simulation for mechanism testing and torque, speed analysis, energy
analysis, force analysis, stability and FEA analysis of leg and joint of the robot. The
simulation is performed for alligator and mammal inspired robot. For multibody
simulation of I used the Adams multibody dynamics software platform which is
integrated by the Matlab and Pro\Engineer. The simulation steps for MBD analysis
are as following:
Step 1- Initially for simulation of robot we should have simplified CAD model
software (Pro\E, Solidworks etc.) and multibody simulation software (Adams, Webot
etc.) and Matlab. For our project work I used Pro\E 4.0 and Adams view 2012 and
Matlab 2010 b. We did forward kinematics, Jacobian analysis and trajectory planning
therefore prepared simplified model of quadruped robot.The model dimension is same
as the actual robot and kinematic analysis is based the geometry of the actual robot.
All the conditions (mass length, boundary condition, friction, coefficient of
restitution) are near to real value then simulation results will be more realistic and
useful. Simplified models of quadruped are shown below (see Figure 6.1(a), (b))
Step 2- Import the CAD model into Adams in parasolid format then define all the
properties such as mass, Poisson ratio and Youngs modulus.
Step 3- Define the joints as in developed design of quadruped robot and motion which
will be act as actuators.
60
Step 4- After applying the joint and motion we had to define the joint variables into
the Adams. These variables will be defined as an input and output. The input variable
will be angular velocity and output variable will be an angular position.
Step 5- We used Adams control which was directly integrated by the Matlab and the
We prepared the Matlab code using kinematics for each leg that is based on joint
space and Cartesian space and with using Adams control we had generated control
plant which is a bridge between Adams and Matlab(see the Figure 6.1(d))
Step 6- In this step Adams control plat was integrated Matlab using Matlab simulink
model.
61
6.2.
Motors used for quadruped robot has the high gear ratio and very high damping value
and I am using velocity as input to the motor and acceleration is constant. Here I used
proportional controller because integral and derivative control is not playing very
much important role for angular position / velocity control. Control block diagram is
shown in Figure 6.2.
62
6.3.
The whole simulation was run the Intel core i3 processor, 2.40 Ghz CPU. Simulation
results for input and output variable shown in following Figures in joint space. The
simulation result shows the desire value of angular position of the robot is 45o (see the
Figure 6.3(b)) by using P controller and required torque by the leg 1 and leg2 is .25
N-mm (See the Figure 6.3(c)).
63
64
65
66
6.4.
67
Note: In the plot red colored line is our desired and blue color line is our actual
trajectory and green color is our error in x desire and x actual.
Figure 6.5(d): For straight line trajectory of 3dof leg with via point
68
Figure 6.5(e): For straight line trajectory of 3dof leg with via point
Figure 6.6 (a): Model based control in joint space for dynamic analysis quadruped robot [41]
69
Figure 6.8(b): Angular position variation form the each joint of legs
71
Figure 6.8(e): Reaction forces from the ground crawl gait implementation
B. Trot gait
72
Figure 6.9(c): Reaction forces from the ground crawl gait implementation
C. Bound gait
73
6.5.
Finite element analysis (FEA) offers excellent modeling capabilities for individual
components of robot for estimating stresses and strains. Rigid body mechanical
system simulation (MSS) efficiently analyzes large motions of complex systems and
can be used to generate component loads for FEA. Objective of this simulation is to
validate the design and find out stresses and strains at failure point which helps to
select the material of the robot and parameterize the design in the respect of inertia,
loads, and geometry of the robot. The robot simulation is based on Adams Flex,
Nastran and Patran. After doing simulation in Adams we got the reaction forces which
I gave as input as force for FEA analysis.
(6.1)
74
Figure 6.11(a): Maximum shear stress and von misses stress of leg FEA simulations
Figure 6.11 (b): Maximum shear stress and von misses stress of whole body FEA simulations
75
6.6.
76
CHAPTER 7
DELRIN
ABS
3200
.29-.40
3120
.35
3200-3500
.35
Density (g/cm3)
1.17
1.4
1.04
70
91
50-65
124
96
65
42
66
--
Parts name
PMMA,Delrin ,3 MM sheets
Quantity
2
2
3
4
5
6
7
8
Servo motors
Arduino board
PCB board
Heat sink
Voltage regulator IC(7085)
Dry cell rechargeable battery (2 Amph) 12 V
Dry cell rechargeable battery 9 v
10
1
2
10
10
1
1
The fabrication of leg and body part of robot has been done on laser cutting machine.
In the design of alligator-inspired robot, body of the robot was divided into two parts,
front and rear. These parts are connected through link with one revolute joint and a
fixed joint. Robot has 4 legs and each leg has two limbs which are based on actual
limb arrangement of alligator, upper and lower limbs were fabricated using same
machine. But unlike real alligators having oblique arrangement of limbs, our robot has
77
its limbs inclined perpendicular to each other. As of now, any 2D design for leg will
suffice. But each leg also has to house its own servo motor which is almost of the
same size as the limb. To accommodate the servo, a sideways protrusion has to be
provided to house of the servo, thus transporting the limb design into 3D domain.
Figure 7.1(a): Left-hand image is that of the targeted robot leg design prototype developed in
Pro/ENGINEER Wildfire 4.0 whereas right-hand image is that of actual robot limb fabricated in 3-D
Rapid Prototype Printers using ABSplus in ivory at about 1.6 kW (RMS)
But manufacturing of any 3D part requires not only a lot of time but is also expensive.
Most commonly used 3D Rapid Prototyping Printers requires considerable time as
in:a) Melting of thermoplastic material ( in our case, ABSplus in ivory)
b) Manufacturing time
c) Removal of support material (in our case, SR-30 soluble) by dissolution in
reagent
To save on resources, the 3D design was transformed into 2D by simply breaking the
upper and lower limbs into two 2D shapes which will fit in via slot-fitting mechanism.
Thus, instead of 3-4 hours, our job could be done in few minutes now in a lasercutting or water-jet cutting machine. To sum up, an extra link had to be provided at
each limb to house the servo. Hence for two limbs at each leg, four rigid links were
used. The parts are fabricated by using CO2 laser cutting machine [46].
78
(i)
(ii)
(iv)
(vi)
(iii)
(v)
(vii)
(viii)
Figure 7.1(b): Part required for robot assembly; (i) Hons require for motor coupling (ii) End of the leg
part fabricate in 3D printer (iii) Screws and nuts required (iv) Front body part (v) Rear body part
(vi)Leg of the robot (vii) battery required (viii) Leg coupling
7.2.
After fabrication of the parts of the robot then I started assembly of the robot.
Assembly of robot is very simple and modular. Step for assembly is as following
Step-1 The robot body parts (front and rear parts) connected through a link. One link
which is connected with front part of the body and a revolute joint and other end of
link which is connected through a rear part of the body will be connected through
fixed joint.
79
Step-2 Put the servos on the body of the robot and it will be known as hip servos
for actuation for yaw motion of alligator-inspired robot.
Step-3 Assemble the hip leg limb with servo housing then connects with the hip
servos. Hip leg limb will be connected with the knee servos.
Step-4 Connect the knee servos with knee leg limbs for roll motion.
Step-5 Put the based area on the body to to keep Arduino and shield.
80
7.3.
Quadruped is being developed at CAIR and their people are doing manufacturing and
assembly of quadruped robot. I was involved in assembly and fabrication of modular
joint of quadruped robot and I was tested a gaits of quadruped robot. Detail
description of modular joint in following section.
7.4.
Quadruped robot has 12 joint. Weight of legs of the quadruped are very heavy so it
generating the high bending and redial load on the each joint of the legs. For reducing
these effects we developed the joints of the each modular leg. Motors have limited
capability to bear these loads in uneven terrain or long journey.
7.4.1. Construction
Basic advantage of modular joint is it has no effects of the radial load and bending
moment. In the construction of the modular joint we separated mainly into two parts.
One part contains the sleeve and other part contains the bearing housing. Sleeve of the
modular joint is fixed to body and legged bracket. In the sleeve we put the spacer, and
then we put the motor in it and fixed the motor with sleeve by putting bolts. For
making our joint more reliable and robust we put the slave card in back side of the
sleeve. Motor controller is fixed such a way I/O of motor connects easily. For suitable
motor wiring we connected it with help of the brackets. And front view of the sleeve
we put the absolute encoder to measure the motor position from the zero. For
connecting absolute encoder we used the two spur gear one we put on the shaft of the
81
motor and other we fixed with potentiometer of the encoder. We placed both gears in
measuring the reference position which means that when motor rotates, the absolute
encoder rotates with help of the spur gear. In the universal joint other part is bearing
house and front Cap. The bearing house is used to keep two bearings and a Circlips to
lock the bearings and motor. Now we put the sleeve in the bearing house and bearing
house. Front cap has the slot which helps to lock it with the motor shaft by key and
we fixed the front cap on the bearing housing by nut and bolt. Now when motor shaft
will rotate bearing house without putting any radial load on the joint. It is shown in
the Figure (7.2 (a), (b)).
82
83
CHAPTER 8
Control Plan
84
Figure 8.1: The coordinate frame, BODY, used here for kinematic analysis is the same as that used for
standard analysis of any vehicle/locomotion dynamics
Then the 3 DOFs are obvious: surge, sway and yaw. Each HLC is associated with a
range of values it can take and the control set. For surge, the range is theoretically [0,
The robot does not operate in the sway direction directly but only due the
combined effect of surge and yaw. This phenomenon is summed up in the equations
below.
(8.1)
=r
(8.2)
The symbols have usual meaning (Fossen, 2011).However, the range for sway is
theoretically unrestricted. Yaw is also theoretically unrestricted as it is the amount by
which the robot turns. And for convenience of manoeuvrability, no restrictions were
placed. Thus,
LLC: 8 servo
angles
[0,
(8.3)
(-,)
(8.4)
[0,2 ]
(8.5)
MLC: 4 pairs
of hip yaw
and knee
roll
HLC: surge,
sway, and
yaw of body
centorid
85
However, due to discretisation of control set related to the three HLCs determined
by the respective geometric/kinematic as well as kinetic constraint on forces and
moments that can be developed, etc., not all configurations are attainable. To control
locomotion, signals sent to the eight servo parameters via Arduino Uno get
transformed into a unique 3-tuple of [x y
and, of course, the signal command. This transformation takes place via the middlelevel controls (MLCs) of hip yaw and knee roll.
Below is a flowchart representation of the algorithm was implemented to move the
alligator forward.
Summing up, there are 8 controls and 3 degree-of-freedom s for our robot and
hence this is theoretically an over-actuated system because control to degree-offreedom ratio, 8/3>1. But, the exact nature of actuation of the system varies over time
due to:a.) Presence of sufficient coupling between upper and lower limb of each leg,
b.) Symmetricity and periodicity constraints laid down by the gait diagram.
c.) Inertia of rigid body and lack of compliance.
d.) Wear and tear.
e.) Manual modification of robot body.
f.) Change of operating environment of robot.
Thus, the nature of actuation of a robot is not simply a function of its control to
degree-of-freedom ratio; it also relies on other factors mentioned above.
8.2.Motion control of alligator-inspired quadruped robot
Motion control of quadruped robot is based on the servo feedback control. Design
architecture of motion control is shown in the Figure 8 servos are directly connected
by the Arduino shield and Motor shield is directly connected to Arduino board. This
is 3 layer based control which is briefly described in the previous section.
86
Figure 8.3: Flow chart communication for master, slave card and PC of quadruped
87
b. Arduino UNO
Arduino is used as a tool, which is used to sense and control the real world in a better
way than your computer simply. It is platform which is easily available on the
internet. Its schematic is also given on the internet. Any expert can modify the
circuitry or code of this software this is open to all software so called open-source
software.
Arduino can detect the physical real world by using different type of sensors
and control the surroundings by controlling actuators. This board is based on the
ATmega 32/16 and programmed using Arduino programming language. Arduino can
connect with other programming language by serial port and program directly can be
written in that language and can be burn on the Arduino board.
c. 7805 IC description
Voltage regulator IC has been design for very vast application for high voltage IC can
draw the 1.5 A output current. IC enables itself on min 5 volt. 7805 has 3 pins one one
88
is used for ground and two others are input and output voltage. Each of these
regulators can deliver up to 1.5 A of output current. It can carry the current but due to
this it generates lot of for which we have used heat sink. IC will work for 34V, 20 A
current.
d. Control algorithm
The trot gait is implemented for robot motion and algorithms is described below in
detail. The key to understanding the gait algorithms is that the notation RF_HS
represents Right Front Hip Servo and so on for Left Hind and Knee Servos.
Figure 8.5: The algorithm to move the alligator forward is summed up as a flowchart. The actual
amount of actuation to be given and the time delay for the different actuations involved was based on
gait diagram described earlier. This flowchart was generated using Flow Breeze, a flowchart
automation add-in for MS-Excel.
8.3.
3-channel Input Capture (IC) Module and for motion control of quadruped robot we
will be based on the slave and master control. Here in the Figure 8.6 we can see the
flow of communication to motion and the controller. Computer will be connected to
the master controller by serial communication and all slave will be communicated to
the master using CAN bus.
89
Figure 8.6: Flow chart communication for master, slave card and PC of quadruped
QTY.
1
1
1
1
1
1
1
1
B. Motor
For single axis motion control I used maxon series Swiss made PMDC motor. Its
torque output is 30N/m. Motor contains three basic parts planetary Gear head,
brushless motor, and encoder.
Planetary Gear
Gear box is used to increase the motor torque. Gear train mechanism is based on spur
and epicyclical planetary gear heads which is matched with motor shaft. It provides
very high torque which mostly used for industrial and R&D purposes. The gear ratio
of the robot is 394:1 and motor weight is 960g.The torque output from the motor is
30Nm and efficiency is 68 %.
Brushless Motor
Motor is brushed motor with powerful permanent magnets. It has used iron less rotor.
It advance motor based on current technology which is compact, with low inertia
drives, Motor torque is .895Nm and speed is 2800rmp at24 Volt, 1 Amps. It has 92 %
load efficiency.
Encoder
High precision encoders, DC tachometers and resolvers with a high signal resolution
are mounted exclusively on motors with through shafts for resonance reasons. The
assembly requires adjustment to the motors and may only be done in the delivery
91
plant. Encoder is Encoder MR 256-1024 3 channel and count per turn is 256 and max
speed is 37500rpm.
C. Motor driver
For controller the motor the driver is required. In this motion control hardware I used
LMD series motor driver. I used LMD18200 driver. Features, applications,
descriptions and pin diagram given as following
Features
a. Numerically Controlled Machinery
b. No Shoot-Through Current
c. Thermal Warning Flag Output at 145C
d. Thermal Shutdown (Outputs Off) at 170C
e. Delivers Up to 3A Continuous Output
f. Operates at Supply Voltages Up to 55V
g.
Low
Applications
a. Computer Printers and Plotters
b. DC and Stepper Motor Drives
c. Position and Velocity Servomechanisms
d.
93
(8.1)
(8.2)
94
95
96
97
98
VREGH
CAP1BUF
T2CON = 124
PR2 = 255
TMR2IE = 1;
TMR2IP = 0;
av=0;error=0,error_p=0;
error_i=0;No_rotation;
Yes
No
LED
joint_move_linear
(360);
99
End
ENCODER_ISR
Interrupt
high
TRISC=0
TRISB=0
TRISA=0
QEICON=60
MAXCNT=65536
POSCONT=0
MAXCANT=POSCANT
IC2QEIF=1
UPDOWN
=1
T0CON = 0x88;
TMR0H = (655362500)>>8;
TMR0L = (655362500) & 0xFF;
TMR0IF = 0;
TMR0IE = 1;
TMR0IP = 0;
LED Toggle
IC2QEIF=0
No. of rotation
count++
IC2QEIF=0
IC2QEIE=1
IC2QEIP=1
IPEN=1
GIE=1
PIE=1
100
No. of
rotation
count-- -
4
Trajectory
Update
3
SERVO_LOOP
pwm,
if
(t>tf)
t =
tf;
error_p
kp = 0.6
kd = 0
ki = 0.0001
enc_cnt=POSCNT+65536*no. rotation
error_p=error
error=av-enc_cnt
error_i=error_i+error
pwm=kp*error+kd(error-error_p)+error_i*ki
t = tf;
pwm>1023
pwm=1023
joint_move
_linear()
pwm<1023
pwm=-1023
Pwm<0
((long int)
(jv*(169.0/9.0)*
4*256/360.0))
pwm=-pwm
RC0=1
CCPR1L=pwm>>2
DC0B=pwm&0b11
101
RC0=0
2
SERVO_ISR
Interrupt Low
TMR2IF=1
3
SERVO
LOOP
TMR20F=0
TMR0IF=1
4
Trajectory
Update
TMR0IF = 0;
TMR0H = (65536-2500)>>8;
TMR0L = (65536-2500) & 0xFF;
Figure 8.8: (d) Servo loop and trajectory based motion control
102
After implementation of the servo loop and trajectory loop for single motor I
implemented different gaits on actual robot. I used dynamixel servomotors motion
control the robot. I implemented the crawl, trot and bound gaits on quadruped robot.
0.6
0.6
0.5
0.5
Speed (BL/sec)
Speed (BL/sec)
0.4
0.3
0.2
0.1
0.4
0.3
0.2
0.1
0
0
10
15
Delay time(Sec)
Figure 8.10(a): Robot speed vs delay time
20
40
60
103
CHAPTER 9
Conclusion
The work describes the design, modelling, simulation and fabrication of an alligatorinspired quadruped robot. Multidisciplinary design approach is applied to develop
quadruped robot. After MBD and FEA simulation we have concluded our design
robot is in safe at applied loads and material selection and robot mechanism is correct
for deferent gaits and terrains. Also designed and implemented was the gait plan of
the developed robot based on high gait pattern of alligators.
Research in gait design can be engaged in two directions; either explore design
optimisation to match moving characteristics between a robotic alligator and real
alligators as closely as possible for the same gait diagram or given a scaled alligator
model whose locomotion is inspired by alligators anatomy, design a gait diagram that
mimics different moving characteristics of real alligator as closely as possible. The
former idea was experimented with but focus was laid on the latter idea.
The reptilian robot was tested to move robustly on soils as well as pavements. The
successful application of gait showed that indeed efficient, controlled and guided
walking could be achieved on flat terrains of different nature.
Amphibot
KOLT
Cheetah
Alligator
Big Dog
HyQ
Tekken II
Aibo
Scout
Chetah-cub
Quadruped
2020
2015
2010
2005
2000
1995
1990
1985
1980
1975
0.55
0.6
0.8
0.52
1.8
2.4
3.2
2.33
6.9
2.8
IIT P
BD
IIT
KIT
JP
McGill
EPFL
MIT
104
9.2.
Design modeling and simulation has been done and a platform is developed. Some is
require to such
Dynamic stability analysis and simulation
Experimentation and testing for static stability measurement
Free gait algorithms is need to done for highly rugged terrains
Compliant analysis and speed measurement is also the future scope
Design modification of alligator inspired robot to achive more than 1 BL/sec
speed
105
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109
PUBLICATIONS
Published Paper
S. Shriyam, A. Mishra, D. Nayak and A. Thakur Design, Fabrication and Gait
Planning of Alligator-inspired Robot International Journal of Current Engineering
and Technology, 2014, 567-575, 2277 - 4106
Mishra A.K., Raina R., Yadav S.B., Sarangi S., Mathematical Modeling of
Electromagnetic Levitation Ball using Bond graph in 1st international and 16th
national conference on machine and mechanism (iNaCoMM-2013), IIT Roorkee,
India, 18-21 Dec 2013.
Augustine J., Mishra A.K. and K. Patra, Mathematical Modeling and Trajectory
Planning of a 5 Axis Robotic Arm for Welding Applications, Proceedings of the
3rd International Conference on Production and Industrial Engineering (CPIE
2013), NIT Jalandhar, India, 29-31 March, 2013.
Accepted abstract
A. Mishra and A. Thakur, Multidisciplinary Design Approach and Fabrication of
Alligator-Inspired Robot in 5th International & 26th All India Manufacturing
Technology, Design and Research (AIMTDR-2014), IIT Guahati, India 12-14 Dec
2014.
Accepted Paper
Mishra A.K, Kumar R., Sarangi S., Mathematical Modeling of Electromagnetic
Levitation Based Active Suspension System in 2nd International Conference on
Mechanical,
Automotive
and
Materials
Engineering
(CMAME
2014)
110
Appendix. A
1. Kinematics transformation of mammalian-inspired
Transformation the first link form 0th frame to 1st frame for joint 1
For Leg 1
(A.1)
(A.2)
(A.3)
Transformations form 3rd frame to 4th frame for end point of the leg.
(A.4)
and
=
= 900
we can find the transformation from Pth frame to 0th frame is
Whole
3. Dynamic modelling
Having computed the linear and angular accelerations of the mass center of each link,
we can apply the NewtonEuler equations to compute the inertial force and torque
acting at the center of mass of each link. Thus we have
112
(A.6)
Here
link
113
Education
Pursuing Master of Technology in Mechatronics Engineering from Indian Institute
of Technology, Patna with an aggregate 9.11 CGPA (till 3rd semester).
Bachelor of Technology in Mechanical Engineering in 2012 from Gautam Buddha
Technical University, Uttar Pradesh with an aggregate 72.8%.
Experience
Working as Teaching Assistant since 24th July, 2012 to present at Indian
Institute of Technology, Patna.
Worked as Project assistant at Center for Artificial Intelligence and Robotics,
DRDO Lab Bangalore form 18th June 2013 to 16th January 2014.
Area of Interest
Multibody Dynamics simulation (Adams View with control, durability, vibration
and Flex), Kinematics, Dynamics and control of robots, Mechanism and Machines,
Design and Modeling of Micro and Nano electromechanical Devices, Automotive
Mechatronics, Modeling of Mechatronics Systems.
Technical Proficiency
Basic CAD Softwares- AutoCAD, Pro/Engineer, Solidworks
Basic FEM software Patran, Nastran
Microcontrollers AVR series (Atmega 8 and 16) and PIC series(2431,
dspic30F4011) and Arduino Uno board
Basic Multibody Dynamics softwares-Adams, Working Model
Basic Computational and simulation software-Matlab, Simulink
Basic C and PLC programming
Data Acquisition software National Instruments LabVIEW
Bond graph Modelling-symbols
Basic Circuit Designing- Circuit wizard ,OrCAD, Proteus
Manufacturing skills- Rapid prototyping(3D printer), Co2 Laser cutting machine,
CNC machines
Mentorship
Mentoring several undergraduate students and postgraduate students for the Mobile Robotics
Project during my M.tech final at IIT Patna in spring 2014.
114