[114] drc hubo technical review
TRANSCRIPT
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DRC-HUBO: Technical Review
Jungho Lee Ph.D Rainbow Robotics, CEO
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contents
1. Robot Platform: HUBO 2. Real-time OS & Framework 3. Control Strategy 4. DRC Finals
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1. Robot Platform HUBO
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1.0 Rainbow
Best Engineering &Technology university in Korea
World: 17th(QS), 26th(THE)
Best Robotics Research Center in Korea
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1.1 Hardware Overview
History of humanoid robot, HUBO
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1.1 Hardware Overview
DRC-HUBO
• Height : 155cm• Weight : 60kg
(2013)
DRC-HUBO+
• Height : 175cm• Weight : 80kg
(2015)
IMU sensor
LIDAR
Computer
Battery
Foot
Hand
P.A.C. sys.
Wheel
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1.1 Hardware Overview
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1.2 Light and Rigid Design
• Exoskeletal structure • Avoid cantilever • No external cables • Modular design
- Torso -
- Leg -
- Arm -
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1.2 Light and Rigid Design
• No external cables - There is no external cables by using
hallow shaft
- Protect cables from malfunction and external impact
• Modular design - Facilitate assembly and repair process
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1.3 Effective Heat Dissipation System
• Specially designed cooling fins with fans
- Knee joint and Hip pitch joint need much heat dissipation
- Specially designed fins absorb heat from motors and motor control boards
• Heat dissipation by using contact with frame
- Heat dissipation from motors and motor control boards to aluminum body frame
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1.4 Transformable Humanoid
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1.5 Robust Motor Driver
2ch and 1ch motor controllers
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1.6 Smart Power Management
Super Capacitor
LCD Monitor
Main Controller
Li-Ion Battery 48V / 11.4 Ah
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1.7 Reliable Internal Communication
PC
CAN (2ch)
isolator isolator isolator isolator
FT sensorJoint Motor Controller
Joint Motor Controller
Can High
Can Low
CAN (2ch)
(USB Connection)
Right Leg Left Leg Right Arm Left Arm
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1.8 Reliable Vision/LIDAR System
PL
PM
PC
HUBO head, rotating vision sensor system HUBO head calibration
Due to rotating vision sensor system, we can obtain full 3D point cloud of target area and control laser sparsity using motor sweeping speed
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2. Real-time OS & Framework
PODO-RT
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2.1 How to move robots?
PODO Framework?1. “PODO” is named from Korean word “포도”, grape in English. 2. We call each process in PODO as “AL”(알), grape berry in English. 3. Many programs(processes) for controlling robots are attached to shared memory.
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2.2 PODO Framework
Module 1 Library
Module 2 Library
Module n Library
Dependent Structure Multi-agent system
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2.2 PODO Framework
Module 1 Process
Module 2 Process
Module n Process
Independent Structure Multi-agent system
PODO
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2.2 PODO Framework
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2.3 Real-time OS• “A system is said to be real-time if the correctness of a computation depends not only on the logical correctness but also on the time at which the results are produced [1].”
[1] Shin, Kang G., and Parameswaran Ramanathan. "Real-time computing: A new discipline of computer science and engineering." Proceedings of the IEEE 82.1 (1994): 6-24.
DataValidity
1
Time
deadline
Time
Data Validity
1
deadline
System Unstability
Time
deadline system failure
System Unstability
Time
deadline degrade system quality
Hard real-time
Soft real-time
missing a deadline is a total system failure.
the usefulness of a result degrades after its deadline, thereby degrading the system's quality of service.
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2.3 Real-time OS
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2.3 Real-time OSl Firmware
• 시스템이 간단함• Hard real-time • 실시간 연산속도에 제한 받음• 기능이 제한적임 (비 OS) • UI가 제한적임
Hard Real-time
Robot System
Firmware based Embedded System
l GPOS(Soft RTOS)
• GPOS의 기능을 활용할 수 있음• PC선택에 비 제한적임• Soft real-time 혹은 hard real-time이지만 선택적 명령 수행으로 제한됨
• 실시간 연산속도에 제한 받음
Hard Real-time
Robot System
General Purpose OS(Robot framework)
Firmware based Embedded System
Non/Soft Real-time
Communication
Hard Real-time
Robot System
General Purpose OS(Robot framework)
Communication
Hard RTOS
• Hard real-time • GPOS의 기능을 활용할 수 있음• 복잡한 연산도 가능• 비싼 가격• 시스템의 구성이 어려움• RTOS에 따라 PC가 제한적임• RTOS에 상응하는 GPOS를 쓸 수밖에 없음• Real-time 통신 모듈을 직접 구현해야 함
l Hard RTOS
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2.4 PODO-RTAll the actions must start and end within one cycle of control period.
The updating time of sensor and the sending time of reference should be regular and periodic.
Time Offset(read sensor)
Time Offset(send reference)
CalculateReference
(with sensor)
Sensor #1
Sensor #N
Joint #1
Joint #2
Joint #N
Robot Hardware
Control Period(n+1)
(n)
(n-1)
(n)
(n+1)
(n-1)
(n)
(n+1)
(n-1)
(n+1)
(n-1)
(n)
(n-1)
(n)
(n+1)
Send Reference to Robot
Pass Reference to Daemon
Request ReferenceControlPeriod(5ms)
ALDaemon
WorkingTime
Suspend Time
Robot
Request Sensor Data
Generate Next Reference(Use Sensor Data)
Synchronize Reference & Sensor Data
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2.4 PODO-RT
PODO ALs
Shared Memory
PODO-RT
Communication (EtherCAT, CAN, RS485, etc..)
Robot System (Controllers, sensors, etc..)
General Purpose OS (OSX, Linux, Window, etc..)
Robot Framework
PODO DaemonReal-time Kernel
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3. Control Strategy
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3.1 Supervisory and Autonomy
> Supervisory : Where to go and direction
Case - Movement
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3.1 Supervisory and Autonomy
> Supervisory : Set Valve ROI range
Case - Task
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3.1 Supervisory and Autonomy
Drill recognition Valve recognition Terrain recognition
Vision recognition result
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3.1 Supervisory and Autonomy
Rotate drill to grab in correct orientation Try Several different Position and orientation to turn on the Drill
Use Mic to Detect Drill status
<Autonomy in motion : Drill task>
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3.1 Supervisory and Autonomy <Autonomy in motion : Manual operation>
Auto redundancy adjust in manual control
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3.1 Supervisory and Autonomy
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3.2 Whole System Configuration
Robot-Motion Ubuntu 12.04 + Xenomai
i5-4250U 1.30GHz x 4
Vision-Grabbing Windows 8.1
i5-4250U 1.30GHz x 4
Vision-Field Windows 8.1
Xeon E5-1620 3.70GHz x 8
Motion-Field Ubuntu 14.04
i7-4790K 4.00GHz x 8
OCS-Main Ubuntu 14.04
i7-4790 3.60GHz x 8
OCS-Virtual Ubuntu 14.04
i7-4790 3.60GHz x 8
OCS-Monitoring Ubuntu 14.04
I7-4700MQ 2.40GHz x 8
TCP
TCP Server
UDP
CAN Bus
Robot Field
OCS
Motor Controller #1
Motor Controller #2
Motor Controller #N
Sensor #1
Sensor #2
Sensor #N
LIDAR
Camera #1
Camera #2
DRC-HUBO+
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3.3 Degraded Comm. Handling
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3.4 Intuitive User Interface
Monitor#1
Monitor#2
Joint Status
Program Status
Image view
Sensor info.
3D view
User button
Error signalZ-map
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3.5 Compliance Control
Difficulties of force control - System is originally highly geared actuator - Harmonic drive has less back-drivability - When motor drivers on(FET ON), motor experience braking effect
- Non complementary switching mode -> Cancel braking effect - Friction compensation
-> Make back-drivable
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3.5 Compliance Control
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3.6 Mobility
Robot
Force, Moment, ZMP, Angle, Velocity, Vision, Etc.
Walking Motion Planner
Foot Position Foot Pose Pelvis Height Pelvis Pose
Walking Pattern Generator
CoM Whole Body Inverse Kinematics
Walking Pattern Controller
Predictive Motion Controller
Real-Time Balance Controller
Joint Angle
l Walking Framework
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3.6 Mobilityl Balance Control
High precision rate gyro • Fiber Optics Gyro(FOG) • Superior bias instability (≤0.1°/hr, 1σ)
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3.6 Mobility
StableC
Coliision freeC
allowable joint rangeC
l Walking Motion Planner
Valid Plane Extraction
CollisionJoint Limit
Generate Candidate Configuration
LIDAR DATA
Motion Checker
Priority Based Parameter Modification
1. Hip Height 2. Hip Rotation 3. Toe-off Motion 4. Foot Orientation 5. Foot Position
Optimized Walking Configuration
Yes
No
Search the space of stable configuration
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3.6 Mobility
• Hip Height Modification Motion
• Toe Off and Pelvis Rotation Motion
l Extending walking stride
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3.6 Mobility
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3.6 Mobility
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4. DRC Finals
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4.1 Tasks
Driving
Egress
Door
Valve
Drill
Surprise
Stair
Debris
Terrain
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4.2 Driving Task
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4.3 Egress Task
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4.4 Door Task
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4.5 Valve Task
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4.6 Drill Task
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4.7 Unknown Task
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4.8 Terrain Task
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4.9 Debris Task
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4.10 Stair Task
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4.11 DRC Finals: TeamKAIST
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4.11 DRC Finals: TeamKAIST
Prof. Junho OhDr. Jungho LeeDr. Inhyeok Kim
Dr. Jungwoo Heo
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4.12 We have to do more and more…
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Q&A
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Thank You