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HAPTIC CONTROL AND OPERATOR-GUIDED GAIT COORDINATION OF A PNEUMATIC HEXAPEDAL RESCUE ROBOT

HAPTIC CONTROL AND OPERATOR-GUIDED GAIT COORDINATION OF A PNEUMATIC HEXAPEDAL RESCUE ROBOT. A Master’s Thesis Presentation By Brian A. Guerriero Georgia Institute of Technology George W. Woodruff School of ME Intelligent Machine Dynamics Lab

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HAPTIC CONTROL AND OPERATOR-GUIDED GAIT COORDINATION OF A PNEUMATIC HEXAPEDAL RESCUE ROBOT

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  1. HAPTIC CONTROL AND OPERATOR-GUIDED GAIT COORDINATION OF A PNEUMATIC HEXAPEDAL RESCUE ROBOT A Master’s Thesis Presentation By Brian A. Guerriero Georgia Institute of Technology George W. Woodruff School of ME Intelligent Machine Dynamics Lab NSF Center for Compact and Efficient Fluid Power Dr. Wayne Book CCEFP TB4 Brian Guerriero

  2. Introduction • NSF CCEFP • Paving the way in improving the compactness, efficiency, and effectiveness of fluid power • 7 member universities • 3 thrusts • 4 testbeds CCEFP TB4 Brian Guerriero

  3. Introduction • Testbed 4: Compact Rescue Crawler • Develop testbed for man-machine multimodal interface research • Research bilateral teleoperation and coordinated pneumatic control • Research methods of enabling a single operator to control an 18 DoF mobile robot • Use PHANToM haptic devices to wield control over two robot legs CCEFP TB4 Brian Guerriero

  4. Introduction • CCEFP Collaborator Roles • Vanderbilt University • Develop chemofluidic monopropellant fuel source and components • Develop high-level automatic gait coordination • NCAT • Evaluate human factors issues regarding operator interface • Evaluate optimum methods for feeding large amounts of data effectively to operator CCEFP TB4 Brian Guerriero

  5. Acknowledgements • Dr. Wayne Book • Dr. Harvey Lipkin • Dr. Chris Paredis • JD Huggins • Others: • Dr. Matt Kontz • IMDL Labmates • Friends & Colleagues • Dr. Haihong Zhu CCEFP TB4 Brian Guerriero

  6. Acknowledgements • Industry Support and Sponsors CCEFP TB4 Brian Guerriero

  7. PresentationOutline • Background Research • Pneumatic Control • High Level Gait Coordination • CRC V1.0 • CRC V2.0 • Design • Sensors • System Configuration • Control • Classical Methods • Revised Force-based Position Controller • User Interface • Haptic Feedback • Operator Workstation • Guided-Gait Coordination • Conclusions & Next Steps CCEFP TB4 Brian Guerriero

  8. PresentationOutline • Background Research • Pneumatic Control • High Level Gait Coordination • CRC V1.0 • CRC V2.0 • Design • Sensors • System Configuration • Control • Classical Methods • Revised Force-based Position Controller • User Interface • Haptic Feedback • Operator Workstation • Guided-Gait Coordination • Conclusions & Next Steps CCEFP TB4 Brian Guerriero

  9. Background Research • Pneumatic Servo Control • Wang, Pu, Moore: acceleration feedback instead of pressure • Chillari, Guccione, Muscato: Survey of pneumatic control schemes • Differential pressure gain scheduling • Fuzzy, Neuro-Fuzzy, Sliding mode • Guvenc: Discrete time model regulation with model inversion • Korondi and Gyeviki: robust sliding mode control CCEFP TB4 Brian Guerriero

  10. Background Research • Chemofluidic Monopropellant Research • Goldfarb, Barth, Fite, Mitchell, Shields, Gogola, Wehrmeyer: Control, characterization and implementation techniques • Al-Dakkan, Goldfarb, Barth: Energy saving techniques reusing high-pressure exhaust gasses CCEFP TB4 Brian Guerriero

  11. Background Research • High Level Gait Coordination • Cruse: Stick insect cauausius morosus gait analysis, developed WALKNET • Wait and Goldfarb: Further WALKNET development, application to a legged robot and simulations • Torige, Noguchi, Ishizawa: Centipede style gaits moving feet in waves based on previous foot positions CCEFP TB4 Brian Guerriero

  12. PresentationOutline • Background Research • Pneumatic Control • High Level Gait Coordination • CRC V1.0 • CRC V2.0 • Design • Sensors • System Configuration • Control • Classical Methods • Revised Force-based Position Controller • User Interface • Haptic Feedback • Operator Workstation • Guided-Gait Coordination • Conclusions & Next Steps CCEFP TB4 Brian Guerriero

  13. CRC V1.0 • Developed from Vanderbilt design • 7/8” Airpel/Sentrinsic Actuators • 3 DoF, Good Range of Motion CCEFP TB4 Brian Guerriero

  14. CRC V1.0 • Dec. 06 – Apr. 07 • Mounted to table • Simple PID Control CCEFP TB4 Brian Guerriero

  15. CRC V1.0 • Problems and Issues • No-stiction cylinders proved difficult to control, 100 psi MAX • Weak shoulder joint design • Mechanical interferences CCEFP TB4 Brian Guerriero

  16. CRC V1.0 • V1.0 In Action CCEFP TB4 Brian Guerriero

  17. PresentationOutline • Background Research • Pneumatic Control • High Level Gait Coordination • CRC V1.0 • CRC V2.0 • Design • Sensors • System Configuration • Control • Classical Methods • Revised Force-based Position Controller • User Interface • Haptic Feedback • Operator Workstation • Guided-Gait Coordination • Conclusions & Next Steps CCEFP TB4 Brian Guerriero

  18. CRC V2.0 • 4-07 - Present • Complete and thorough two-legged redesign • Designed for 300 psi actuation • New prototype Sentrinsic cylinders CCEFP TB4 Brian Guerriero

  19. CRC V2.0Design Benefits • Shoulder Joints • Clevis system eliminates slop and wear CCEFP TB4 Brian Guerriero

  20. CRC V2.0Design Benefits • Larger Actuators • 1.5” pneumatic cylinders: 530 lbf at 300psi operating pressure • Valves mounted on or as close as possible to cylinders CCEFP TB4 Brian Guerriero

  21. CRC V2.0Design Challenges • Range of Motion • Decreased due to larger cylinders • Prevent mechanical interferences • Safety • Robots Hurt! • Integration • Sensors, valves and actuators packaged together CCEFP TB4 Brian Guerriero

  22. CRC V2.0Fabrication • Aluminum Leg Profiles • Waterjet cut at GTRI and finished at ME shop CCEFP TB4 Brian Guerriero

  23. CRC V2.0Fabrication • Senrinsic Cylinders • Designed and built by Sentinsic at GT • Custom rod ends and base clevises • NFPA tie-rod design and fiber-wound barrel construction • Months of development, fabrication, debugging and revisions CCEFP TB4 Brian Guerriero

  24. CRC V2.0Fabrication • Senrinsic Cylinders • 0-10V position output • Integrated pressure sensors CCEFP TB4 Brian Guerriero

  25. CRC V2.0Sensors • Position • CCRS integrated into cylinders • Pressure • Measurement Specialties 250 psi MEMS sensors CCEFP TB4 Brian Guerriero

  26. CRC V2.0Sensors • Pressure • Tested for linearity • Custom housings integrated into ends of cylinders CCEFP TB4 Brian Guerriero

  27. CRC V2.0Sensors • Sensor Integration • Op-amp board developed for 12x pressure sensors • Custom PCB routes all power, sensors and valve commands CCEFP TB4 Brian Guerriero

  28. CRC V2.0System Integration • Onboard Computing • PC-104+ stack runs real-time control via xPC Target • 802.11n wireless data transfer • 32 16-bit Analog inputs • 16 12-bit Analog outputs CCEFP TB4 Brian Guerriero

  29. PresentationOutline • Background Research • Pneumatic Control • High Level Gait Coordination • CRC V1.0 • CRC V2.0 • Design • Sensors • System Configuration • Control • Classical Methods • Revised Force-based Position Controller • User Interface • Haptic Feedback • Operator Workstation • Guided-Gait Coordination • Conclusions & Next Steps CCEFP TB4 Brian Guerriero

  30. Control • PHANToM/operator Cartesian space • Joint Space (θ1, θ2, θ3) • Cylinder Space • Transformations CCEFP TB4 Brian Guerriero

  31. Control • Stroke Control • Cylinder stroke length command converted into 0-10V command • Festo Proportional Valves control flow into each cylinder CCEFP TB4 Brian Guerriero

  32. Control • Goals • Stability • Pneumatic systems are high-order and traditionally difficult to control • Tracking performance • Each cylinder under highly varying loading conditions • Target: 10% • Robust to disturbances • Noise and debris impacts CCEFP TB4 Brian Guerriero

  33. Control • Original PD Control • Control effort based on position error only • Stable, worked well in original configuration CCEFP TB4 Brian Guerriero

  34. Control • Two-Legged PD Control (Mounted) CCEFP TB4 Brian Guerriero

  35. Control • Critical Flaw • When weight applied to legs, control effort not high enough • Large position errors • Crawler could not actually crawl CCEFP TB4 Brian Guerriero

  36. Control • Tracking • Response CCEFP TB4 Brian Guerriero

  37. Control • Two-Legged PD Control (Struggling) CCEFP TB4 Brian Guerriero

  38. Control • Addition of velocity feed-forward command • Differential pressure gain scheduler • Improvements • Velocity damping term CCEFP TB4 Brian Guerriero

  39. Control • Results • Supplementary force control improved tracking • Crawler developed a ‘hopping’ syndrome, decreasing stability CCEFP TB4 Brian Guerriero

  40. Control • Hopping syndrome CCEFP TB4 Brian Guerriero

  41. Control • Results • Hopping caused by instantaneous gain change from position error sign change CCEFP TB4 Brian Guerriero

  42. Control CCEFP TB4 Brian Guerriero

  43. Control • Solution • Scale force supplement by position error and differential force CCEFP TB4 Brian Guerriero

  44. Control CCEFP TB4 Brian Guerriero

  45. Control • Improved force-based position control CCEFP TB4 Brian Guerriero

  46. PresentationOutline • Background Research • Pneumatic Control • High Level Gait Coordination • CRC V1.0 • CRC V2.0 • Design • Sensors • System Configuration • Control • Classical Methods • Revised Force-based Position Controller • User Interface • Haptic Feedback • Operator Workstation • Guided-Gait Coordination • Conclusions & Next Steps CCEFP TB4 Brian Guerriero

  47. User Interface • Operator Workstation • Reconfigurable task-space • Initial Augmented Reality (AR) setup CCEFP TB4 Brian Guerriero

  48. User Interface • Operator Tasks • Feel environment and obstacles • PHANToM haptic devices • See and hear environment • Head-mounted display • PTZ camera onboard robot • Ancillary functions • Tactile switches on PHANToMs • Voice recognition CCEFP TB4 Brian Guerriero

  49. User Interface • PHANToM force output Directional Proportional to position error Spring force • Haptic Interface CCEFP TB4 Brian Guerriero

  50. User Interface • Immersive Environment • Head-mounted display of feeds operator robot’s-eye-view • Motion tracker translates head movements into camera movement CCEFP TB4 Brian Guerriero

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