仿生机械概论

BiomorphBiomorphMachinesMachinesWhatWhat’’ssBiomorphBiomorphMachines?Machines?„„BiomoprhBiomoprh((BioBiologicallogicalMorphMorphology)ology)------fromBEAMfromBEAM(Solarobotics(Solarobotics)!!)!!„„Otherterms:Otherterms:1.1.BiomachineBiomachine2.2.BiomimeticBiomimeticRoboticsRobotics3.3.BiorobotsBiorobotsPioneersPioneers„„ShigeoHiroseShigeoHirose(())BrooksBrooksRodenyRodeny„„ResearchSince1970.ResearchSince1980ResearchSince1970.ResearchSince1980„„TITechTITechHYRLab.MITAILab.HYRLab.MITAILab.„„iRobotiRobotCo.Co.„„http:/://www„„UsefulUsefulBiomorphBiomorphMachineshumanoidRobotsMachineshumanoidRobotsBigEventsBigEvents„„BeginningfromfailuresofBeginningfromfailuresofhumanoidRobotshumanoidRobots„„1970ShigeoHirosebegintoresearch!!1970ShigeoHirosebegintoresearch!!„„1980Brooks1980BrooksRodenyRodenybegintoresearch!!begintoresearch!!„„19921992““StiquitoStiquito&BEAM&BEAM””––kitskits„„1996SonyDreamRobot1996SonyDreamRobot„„19971997RoboCupRoboCupAtNagoya(AtNagoya())„„2002Now!2002Now!„„FutureFutureÆÆRobotswillbearoundus!!!!!!!!Robotswillbearoundus!!!!!!!!„„ÆÆWeareWearebiorobotsbiorobots!!!!!!!!!!„„ÆÆOr?????Or?????BiomorphsBiomorphs:whatandwho:whatandwho„„WalkingWalkingBiomorphBiomorphMachinesMachines——U.C.Berkeley,TokyoU.C.Berkeley,TokyoI.T.I.T.McGillUniv.,StanfordUniv.,etc.McGillUniv.,StanfordUniv.,etc.„„UnderwaterUnderwaterBiomorphBiomorphMachinesMachines——MITMIT„„FlyingFlyingBiomorphBiomorphMachinesMachines——GeorgiaTechR.I.GeorgiaTechR.I.„„HumanoidHumanoidBiomorphBiomorphMachinesMachines——MIT,HONDA&SONYMIT,HONDA&SONY„„MultiplemobilerobotsMultiplemobilerobots——Caltech„RoboCup——TheGlobeTheGlobeWalkingWalkingBiomorphBiomorphMachinesMachines(McGillUniversityMcGillUniversity)RHEXiRobotAriel+MarkCutkosky(StanfordUniversity)SprawSDM(ShapeDepositionManufacturing)RHEXRHEX„„Sensor:(Sensor:(!!)!!)„„Powersupply:12VX2Powersupply:12VX2„„Cost:$10000Cost:$10000„„Dynamic:Dynamic:„„Purpose:WalkingPurpose:WalkingMartinBuehlerMcGillUniversityMcGillUniversityhttp://www,IVBEAMStiquitoMarkTilden(LosAlamosNationalLaboratory)(Solarobotics)JamesM.Conrad(ResearchTrianglePark)JonathanW.Mills(IndianaUniversity)TITANTITAN--VIIIVIII(Roller(Roller--Walker)Walker)„„Sensor:PotentiometerforeachjointSensor:Potentiometerforeachjoint„„PowerSupply:DC30to48[v](formotors)PowerSupply:DC30to48[v](formotors)DC5[v],+DC5[v],+--15[v](fordrivers)15[v](fordrivers)„„Cost:24years,40personsCost:24years,40persons„„Dynamic:Dynamic:TITechDriverVerTITechDriverVer.2.2„„Purpose:Rescue(VII),Load(VIII)Purpose:Rescue(VII),Load(VIII)ShigeoHiroseShigeoHiroseTITechTITechhttp:/!!!~~NINJANINJADynamic:Dynamic:AAVM(ValveVM(Valve--regulatedMultiple)suctionpadregulatedMultiple)suctionpadPurpose:Purpose:!!!!!!!!ShigeoHiroseShigeoHiroseTITechTITechhttp:/:/„„Sensor:(CCDx2+Microphone)Sensor:(CCDx2+Microphone)„„PowerSupply:DC12VBatteryPowerSupply:DC12VBattery„„Dynamic:Motor72Wx1+17Wx2Dynamic:Motor72Wx1+17Wx2„„Purpose:SaviorPurpose:SaviorBiology,Electronics,Aesthetics,Mechanics(LosAlamosNationalLaboratory)(Solarobotics)://www.solarbotics.com/„„Sensor:44HzSensor:44Hz„„PowerSupply:4.8VbatteriesPowerSupply:4.8Vbatteries„„Cost:cheap!!(Cost:cheap!!(solarcellsolarcellmotormotortransistorstransistorscapacitorcapacitor))„„Dynamic:MotorDynamic:Motor„„Purpose:NeuralNetsPurpose:NeuralNetsSpyderVBug1.0MarkTildenMarkTildenStiquitoStiquito„„PowerSupply:9VbatteryPowerSupply:9Vbattery„„Cost:$10Cost:$10„„Dynamic:Dynamic:NitinolNitinolWires(Wires())„„Purpose:MusclewirePurpose:MusclewireJamesM.Conrad(ResearchTrianglePark)JonathanW.Mills(IndianaUniversity)„„PowerSupplyPowerSupply:NiCd:NiCdBatteries+17VBatteries+17V„„Dynamic:Dynamic:„„Purpose:SwimmingPurpose:SwimmingJohnKumphiRobot://robosapiens.mit.edu/ariel.htm„„Sensor:Motorposition,footcontact,pressureSensor:Motorposition,footcontact,pressure(underwater),flow(underwater),compass,(underwater),flow(underwater),compass,inclinometer,metaldetectorsinclinometer,metaldetectors„„PowerSupply:22PowerSupply:22NiCdNiCdcellscells„„Cost:$50000(materialsonly)Cost:$50000(materialsonly)„„Dynamic:Dynamic:„„Purpose:minesweepingPurpose:minesweepingWandaWandaFlyingRobotFlyingRobot--EntomopterEntomopter„„PowerSupply:UncertainPowerSupply:Uncertain„„Dynamic:Dynamic:ReciprocatingChemicalMuscleReciprocatingChemicalMuscle(RCM)(RCM)„„P