MANTIS A ROBOT WITH ADVANCED LOCOMOTION AND MANIPULATION ABILITIES

Transcription

1 MANTIS A ROBOT WITH ADVANCED LOCOMOTION AND MANIPULATION ABILITIES Marc Manz, Sebastian Bartsch, and Frank Kirchner DFKI Bremen & Universität Bremen Robotics Innovation Center Director: Prof. Dr. Frank Kirchner robotics@dfki.de

2 Agenda 1. Introduction 1. Motivation 2. Requirements 2. Mechatronic Design 1. Concept 2. Components 3. Simulation and optimization 3. Software 1. Control Architecture 2. Behavior Generation and Optimization 4. Outlook 2

3 Project Description Motivation: Deploying infrastructure Dexterous manipulation abilities Taking Samples Provide high mobility in uneven terrain 3

4 Requirements 4

5 Requirements Main Requirements: Mobility High traction in heavy slop s Statically stable walking pattern (save, robust) Adaptation to different surfaces and conditions Manipulation Ability Dual arm manipulation to solve complex tasks and to enable intuitive remote control f.e. via exo skeleton Statically stable locomotion even while manipulation with both arms (min. 4 Leg s required) 5

6 Concept Different leg configurations Version 1 Version 2 Version 3 Version 7 Version 5 Version 6 Version 4 Version 1 6

7 Concept Mantis overview 7

8 Concept Locomotion posture 8

9 Concept Manipulation posture 9

10 Components Sensors Stereo cameras Laser scanner Inertial measurement unit Off axis encoders for position of motor and joint Tactile sensors in the grippers and the feet Force/Torque sensors Actuators Rotary drives for fast angular velocities Linear drives for high torque Servo drives for head actuation 10

11 Simulation and optimization Generation and optimization in (MARS): Geometry Joints Sensors Including masses Including materials Including motors Including max. torque CAD Blender MARS Simulation 11

12 Software Distributed control architecture: Deliberative control (Navigation) Modeling Planning Reactive control (Locomotion) Behavior Adaption Low level control Controller Filter Communication 12

13 Software Generation and optimization: For more information CLAWAR 2013: A BEHAVIOUR BASED LIBRARY FOR LOCOMOTION CONTROL OF KINEMATICALLY COMPLEX ROBOTS 13

14 Outlook Next Steps: 1. Development of sub components 1. Adaptive Feet to increase the traction 2. Dexterous Gripper with tactile and force-torque sensors 3. Electronics for the motor control and the sensor per-processing 2. Extending the existing software architecture from SpaceClimber 1. Learning and simulation framework 2. Behavior libraries 3. Evaluation the concept in mission scenario 14

15 Thank you! DFKI Bremen & Universität Bremen Robotics Innovation Center Director: Prof. Dr. Frank Kirchner

16 Acknowledgement Jens Mey: Coordination DFKI Robotics Innovation Center Robert Hooke Str Bremen, Germany Phone: +49 (0) Fax: +49 (0) Mobile: +49 (0) jens.mey@dfki.de Margot Kählke: Coordination Uni Bremen Robotics Innovation Center Robert Hooke Str Bremen, Germany Phone: +49 (0) Fax: +49 (0) mkaehlke@uni-bremen.de Sebastian Bartsch: Project Leader Robotics Innovation Center Robert Hooke Str Bremen, Germany Phone: +49 (0) Fax: +49 (0) sebastian.bartsch@dfki.de 16