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Design of a controller for sitting of infants

Design of a controller for sitting of infants. Semester Project July 5, 2007. Supervised by: Ludovic Righetti Prof. Auke J. Ijspeert. Presented by: Neha P. Garg. Introduction & Motivation. Dynamical System. Content. Observations. Further Work. Hand Made Trajectory. Conclusions.

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Design of a controller for sitting of infants

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  1. Design of a controller for sitting of infants Semester Project July 5, 2007 Supervised by: Ludovic Righetti Prof. Auke J. Ijspeert Presented by: Neha P. Garg

  2. Introduction & Motivation • Dynamical System Content • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Introduction & Motivation • Observations • Hand Made trajectory • Analysis of trajectory • Dynamical System • Further Work • Conclusions

  3. Introduction & Motivation • Dynamical System RobotCub Project • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Aim: study cognitive abilities of a child How: by building a 2 year old infant-like humanoid robot ICUB

  4. Introduction & Motivation • Dynamical System Need for Locomotion • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Cognitive Development Explore Environment Locomotion

  5. Introduction & Motivation • Dynamical System Real Infants • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Two main phases of sitting • Bringing of one leg forward • Movement of arm to sit on hip

  6. Introduction & Motivation • Dynamical System Demonstration • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Video of hand-made trajectory

  7. Introduction & Motivation • Dynamical System Main Characteristics • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Torso Movement Leg Movement First Phase Complete Second Phase Start Arm Movement Sitting Critical Phase

  8. Introduction & Motivation • Dynamical System The Trajectory • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  9. Introduction & Motivation • Dynamical System Robustness • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Checked in only critical period • Variation of the points specified for DOFs that effect critical period • Trajectory is quiet robust

  10. Point 6 Point 7 • Introduction & Motivation • Dynamical System Robustness • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Right Arm

  11. Point 6 Point 7 • Introduction & Motivation • Dynamical System Robustness • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Torso

  12. Point 3 Point 4 • Introduction & Motivation • Dynamical System Robustness • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Right Leg

  13. Introduction & Motivation • Dynamical System Center of Mass • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Can information about projection of CM during sitting can be used to classify transitions as good or bad? • Defining stability measure as integration of distance of center of mass from support polygon with time during sitting

  14. Introduction & Motivation • Dynamical System Center of Mass • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  15. Introduction & Motivation • Dynamical System Torso Speed • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Can we predict sitting/falling before critical period ?

  16. Introduction & Motivation • Dynamical System Observations from analysis • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Clear division of sitting in two phases • Robot unstable in the second phase • Robustness more important than stability • Some amount of instability required for sitting • Torso speed cannot be used to predict sitting/falling

  17. Introduction & Motivation • Dynamical System Two Main Tasks • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Switching from crawling to sitting • Designing mathematical equations for sitting trajectories

  18. Introduction & Motivation • Dynamical System Switching from crawling to sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • When an external signal S is given, robot should switch from crawling to sitting • This can be done by:

  19. Introduction & Motivation • Dynamical System Switching from crawling to sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • This may cause abrupt shift from crawling to sitting • Switching should occur only when while crawling hip and shoulder joints are moving in the same direction as they will move after shifting • For this we replace S by

  20. Introduction & Motivation • Dynamical System Switching from crawling to sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  21. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • For all of the trajectories except Left Leg (Abduc /Adduc and Rotation) the following equation can be used: Where parameter P decides when the system should start and when the system starts it goes towards can also be changed if required

  22. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • For example: for torso pitch P = 1 = Where S1 becomes 1 when second phase starts And is calculated as:

  23. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • For example: for left knee

  24. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • For Left Leg (Abduc/Adduc and Rotation), the movement has to be synchronized with left knee

  25. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  26. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  27. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  28. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  29. Introduction & Motivation • Dynamical System Dynamical System for Sitting • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory

  30. Introduction & Motivation • Dynamical System Demonstration • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Crawling and Sitting using Dynamical System

  31. Introduction & Motivation • Dynamical System Further Work • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Addition of sensory feedback while sitting Robot Falling • Collection of biological data to know whether the movements while sitting are controlled by brain or spinal cord • Development of controller for transition from sitting to crawling • Increase in the limit up to which hip joint can be extended

  32. Introduction & Motivation • Dynamical System Conclusions • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory • Main characteristics of sitting behavior of infants and the period of instability have been identified • A controller for sitting of the robot in the same way as infants has been implemented • Sensory feedback can be easily integrated by modifying values of parameter (P) according to sensory input • Robot can be switched from crawling to sitting by providing an external signal

  33. Introduction & Motivation • Dynamical System • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory Thanks a lot! Questions?

  34. Introduction & Motivation • Dynamical System References • Observations • Further Work • Hand Made Trajectory • Conclusions • Analysis of trajectory [1] G. Sandini, G. Metta, and D. Vernon, “Robotcub: an open framework for research in embodied cognition,” 2004, paper presented at the IEEE RAS/RJS International Conference on Humanoid Robotics, Santa Monica, CA. [2] L. Righetti and A.J. Ijspeert. “Design methodologies for central pattern generators: an application to crawling humanoids”, Proceedings of Robotics: Science and Systems 2006, Philadelphia, USA [3] Michel, O. “Webots:Professional Mobile Robot Simulation.”Int. J. of Advances Robotic Systems, 2004, pages:39-42,vol.1 [4] G. Metta, G. Sandini, D. Vernon, D. Caldwell, N. Tsagarakis, R. Beira, J. Santos-Victor, A. Ijspeert, L. Righetti, G. Cappiello, G. Stellin, F. and Becchi. “The RobotCub project - an open framework for research in embodied cognition”, Humanoids Workshop, Proceedings of the IEEE -RAS International Conference on Humanoid Robots, December 2005 [5] MATLAB Function pchip: Fritsch, F. N. and R. E. Carlson, "Monotone Piecewise Cubic Interpolation," SIAM J. Numerical Analysis, Vol. 17, 1980, pp.238-246

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