Transcript BGU Robotics Lab Amir Shapiro Robotics Laboratory Department of Mechanical Engineering Ben Gurion University of the Negev http://robotics.bgu.ac.il/

BGU Robotics Lab
Amir Shapiro
Robotics Laboratory
Department of Mechanical Engineering
Ben Gurion University of the Negev
http://robotics.bgu.ac.il/
Amir Shapiro
• Ph.D., 2004, Technion – Israel
Institute of Technology
• Post Doctoral, 2005-2006,
Robotic Institute of Carnegie
Mellon University
• Visiting Researcher,
summers 2007 and 2008,
Caltech – California Institute
of Technology
• Senior Lecturer, Mechanical
Eng. Dept. Ben Gurion
University, Israel
[email protected]
http://robotics.bgu.ac.il/index.php/Amir_Shapiro
Llama Like Robot
http://robotics.bgu.ac.il/index.php/Mule_like_robot
Mule Like Quadruped Robot
Mechanical Design
• Each leg contains three
pneumatic cylinders
• 20 joints, 5 joints per leg
• Central air compressor
• A combustion engine drive
the compressor
• 24 air valves (2 per cylinder)
Advantages
• Simple and reliable robot
• Can traverse rough terrain
• Power efficient
• Simple to control
• Cost effective
Snake Like Robots
• Snake-robot application is for
search and rescue missions. It can
look for survivors under collapsed
buildings.
• Efficient motion by rolling contact
with the ground
• Motion planning consists of
traveling wave while maintaining
rolling contact with the environment
• Development of odometery
system to measure travel distance
http://robotics.bgu.ac.il/index.php/Snake_like_robot
 Objectives: Development of fruits picking robot
 Robotics lab role:
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Visual servoing towards the fruit.
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Development of an optimal grasp synthesis tool.
Hence, define the locations of a given number of
contact points that provide:
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Steering the gripper towards the fruit based on visual feedback
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A stable grasp while applying minimal grasping force.
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A robust grasp with respect to an external load.
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Synthesis results are intended to define a gripper design objectives.
http://www.crops-robots.eu/
Reconfigurable Body Shop
End-Effector
• Objective: to develop an End Effector that can
grasp a set of few given objects.
• Find a common grasp for a set of objects/part
• Compute all possible grasps for each part
• Intersect all possible grasp over all parts
• Find a single grasp that can hold all parts
• Design an End-Effector based on the grasp
geometry
w1
ŵ3
w2
w3
ŵ1
ŵ2
wˆ i  1
Q=0.35
http://robotics.bgu.ac.il/share/videos/3DOCOG.wmv
MRSAM: A Quadratically Competitive MultiRobot Online Navigation Algorithm
• We present an online motion planning
algorithm for a group of robots that
has to find an unknown target in an
unknown environment
• The competitiveness of an online
algorithm measures its performance
relative to the optimal offline solution
• Any online algorithm navigation
algorithm must have at least quadratic
competitiveness performance
• The MRSAM algorithm achieves the
quadratic lower bound and thus has
optimal competitiveness
http://robotics.bgu.ac.il/index.php/Group_of_robots_motion_planning
MRSAM – Simulation Results
Problem Driven Design
Mapping of Tunnels
Difficulties in Robotic Motion
in Tunnels and Tubes
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Maneuverability and Size
Surface texture
Natural and artificial obstacles
Slopes
Communication
Localization and mapping
Power supply
Environmental considerations
Typical Tunnel Structure
Problem Driven Design
Dual Tracked Mobile Robot for Motion in
Rough Terrain
Features
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Modular
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Dimensions: 54X36X30 cm each
(can be adjusted)
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Weight: 25 Kg each
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Power: Onboard
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Operation Distance: 600 meters
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Speed: 0.75 meters/second
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Payload: 150 Kg each (300 kg total)
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Communication: Wire/Wireless
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Slope – 60o
Winch
Unit #2
Connecting Beam
Unit #1
Camera
The Prototype model
The model
Problem Driven Design
Dual Tracked Mobile Robot for
Motion in Rough Terrain
Modular Design
Problem Driven Design
Dual Tracked Mobile Robot :
Mapping and Control
Internal Data
Aerial Map
Logitech Dual Action Joystick
Mode
Selection
Video Image
Scheme of Robot
Configuration
Additional Data
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Single mode - Operator controls each robot independently, using the two joystick handles. Can transfer
power between the two tracked units, according the relative configuration between the driving units.
Twin mode –Tracked units perform identical motion according to data from a single joystick handle.
Follow mode – Operator uses a single joystick handle and the back unit follows the front unit.
Autonomous mode –Robots move autonomously to the tunnel exit using ultrasonic sensors (to be
developed).
Problem Driven Design
Mapping Results
10
9
Reference Points
8
Experement 1
7
Exprement 2
6
Experement 3
5
Moving
Direction
4
3
Start/End
2
1
0
0
1
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http://robotics.bgu.ac.il/index.php/Dual_tracked_robot_for_mapping_of_underground_tunnels
QuadRotor Hovercraft
http://robotics.bgu.ac.il/index.php/Quadrotor_hovercraft
http://robotics.bgu.ac.il/index.php/Fully_Actuated_Rotorcraft_(FAR)
Climbing Robots
Snail Inspired Wall Climbing Robot
• Applications: Military intelligence, inspection,
serve as relay in ad-hoc wireless network
• Climbs on almost any surface
• Uses hot melt glue as an attachment method
• Peals itself from the glue at the bottom of
each track
http://robotics.bgu.ac.il/index.php/Wall_climbing_robots
Climbing Robots
Wall climbing Robot based
on sticky wheels
• Climbs on smooth surface
• Uses dry adhesive
• Simple and easy to control
• High maneuverability
while on the wall
http://robotics.bgu.ac.il/index.php/Wall_climbing_robots
Climbing Robots
Magnetic Wheels based Climbing Robot
• Applications: inspection of ship’s hull and
bridges
• Climbs on ferromagnetic surface like steel
• Uses compliant magnetic wheel as an
attachment method
• Simple to control an operate, very robust
http://robotics.bgu.ac.il/index.php/Wall_climbing_robots
Climbing Robots
Claws based wall climbing robot
• Mimics the way cats and other four-legged animals climb
• Uses claws melt glue as an attachment method
• Climbs on rough surfaces
http://robotics.bgu.ac.il/index.php/Wall_climbing_robots
Sci-Fi
Underconstraind Cable
Suspended Robot for 3D
motion in congested
environments
http://robotics.bgu.ac.il/index.php/SpiderBot%3A_a_cable_suspended_walking_robot
Design Concept
Motion Concept
• Robot is fully mobile and
autonomous
• Robot consists of central body +
four cable mechanisms
• Each cable mechanism includes:
– Length control unit
– Feedback unit
– Firing unit
– Attach/detach unit
• Central body includes:
– Power source
– Orientation sensors
– Communication devices
• Attach three cables to three connecting
locations
• Maneuver central body toward
temporary target configuration
• Allocate new connection location for
4th cable
• Fire 4th cable toward new connecting
location
• Determine accurate new connecting
location using 3 feedback units
• Detach one cable from one connecting
location
• Reach final target configuration
Inverse kinematics Non-Linear Solver
and Trajectory Planning
The system of equations is highly nonlinear,
therefore we use a numerical solver
Linear
Circular
Problem Driven Design
Vineyard Sprayer
Cost effective – DGPS based navigation
 Under $1000 With base station
 25cm accuracy
http://robotics.bgu.ac.il/index.php/Development_of_an_Autonomous_vineyard_sprayer
Date Palm Trees Sprayer
Objective:
Spraying the dates cluster while maintaining
workers safety and environmental friendly
Instability Problem
Current Spraying Method
Solution:
A Robotic Apparatus for Spraying and
Pollinating Date Palm Trees
Scaled Down Prototype
http://robotics.bgu.ac.il/index.php/Development_of_an_Autonomous_date_palm_trees_sprayer
BaMPer : Balance Measure and
Perturbation System
• Improve Balance of the Elderly through
training
• Simulates real world obstacle hitting
during walking
• Measures balance proficiency during
walking with perturbations
http://robotics.bgu.ac.il/index.php/BaMPer%3A_Balance_Measure_and_Perturbation_system
Energy Harvesting
from Knee and Ankle Motion
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The device harvest energy in phase of the
motion were the muscles are doing Negative
Work (braking of the motion)
By replacing the negative work of the muscle,
we reduce the load on the human and get
energy for free, similar to hybrid cars principle.
Advantages of this technology
– Low power for unlimited time
– The power is sufficient of several
applications (e.g. cell phone, laptop…)
– Clean energy
http://robotics.bgu.ac.il/index.php/Energy_harvesting_from_human_motion
“Science may set limits to knowledge, but
should not set limits to imagination“.
Bertand Russel (1872-1970)
Thank You