[PDF] Autonomous Evolution of Dynamic Gaits with Two Quadruped Robots





Previous PDF Next PDF



163 Access control 120 Aibo/Sony ERS-110 (robotic dog)

https://link.springer.com/content/pdf/bbm%3A978-1-4842-3363-4%2F1



Entertainment Robot

C 1999 by Sony Corporation AIBO ERS-110?????????????????????? ... AIBO ERS-110?????????????????????.



Entertainment Robot

“AIBO” ERS-110 conforms to the OPEN-R version 1 (software specifications). Page 4. “AIBO” is the name given to the Sony entertainment robot. Developed to.



AIBO??? ERF-210AW01 ???? ERS-110 / 111

?????????????AIBO-ware. ERS-110/111?AIBO-ware. ?ERS-110/111?????AIBO-ware ver 1.0/1.1?(ERS-110M/111M).



Conectando el Robot AIBO a ROS: Extracción de imágenes?

AIBO es un robot cuadrúpedo creado por SONY e introdu- cido en 1999 con el modelo ERS-110 [Téllez 2004]. Fue el primer robot de este tipo en el mercado.



Metodologías de diseño de comportamientos para AIBO ERS7

which controls the behavior of a Sony AIBO robot from a CPU or a PDA. device the AIBO ERS-7



TECHNICALITIES

Sony unveiled the first-generation Aibo ERS-. 110 in 1999 producing a limited run of. 5



Ouadruued Robots

ERS-110 the first consumer version of Sony's entertainment robot AIBO. Gaits on both robots are controlled by the locomotion module



Autonomous Evolution of Dynamic Gaits With Two Quadruped Robots

prototype which is the pre-AIBO entertainment robot



Autonomous Evolution of Dynamic Gaits with Two Quadruped Robots

ERS-110 the first consumer version of Sony's entertainment robot AIBO. Gaits on both robots are controlled by the locomotion module



Sony Aibo - The Robot Dog - PhoneVsMobile

“AIBO” ERS-110 “OPEN-R” is the standard interface for the entertainment robot system that Sony is actively promoting This interface expands the capability of the entertainment robot through a flexible combination of hardware and interchangeable software to suit various applications

What is the price of AIBO ERS-110?

Only 3,000 units for Japan and 2, 000 units for the USA are manufactured by the company. The price of ERS-110 was 250,000 YAN at that time. AIBO ERS-111 is the 2 nd member of AIBO series. With some improvements, it was launched in November in the same year of lunch ERS-110.

Is Sony AIBO ERS-111 Black Edition Entertainment robot fully working?

Sony Aibo ERS-111 BlacK Edition Entertainment Robot Fully Working Condition. Universal AC Adapter 100~240V with Conversion Plug included. Good Capacity Battery Pack Hold charge for about one hour. CDROM with PDF Manuals in English, Rubber Pink Ball, Flexible Silicone Ears.

What version of OPEN-R does the AIBO ERS-210 conform to?

AIBO ERS-210 conforms to the OPEN-R version 1.1. “AIBO,” the AIBO logo, “OPEN-R,” and the OPEN-R logo are registered trademarks of Sony Corporation. “Memory Stick,” “ ,” and “ ” are trademarks of Sony Corporation. In this manual, the “?” mark has been omitted. 12 ERS-210

What is a Sony AIBO?

Sony promises this to be more like a real dog then ever before and will incorporate fish eye lens cameras, wifi connectivity as well as location and mapping software. Watch this space! AIBOs were marketed for domestic use as "EEntertainment Robots".

1

AutonomousEvolutionofDynamicGaitswithTwo

QuadrupedRobots

GregoryS.Hornby

?correspondingauthor:

QSSGroupInc.,MailStop269-3

NASAAmesResearchCenter

MoffettField,CA94035-1000

tion,quadrupedrobot

I.INTRODUCTION

D algorithm(EA).

SonyCorporation.

(a)(b) dynamicssimulatorsforunderwaterrobots). 2 versionofAIBO.

II.METHOD

A.RobotPlatform

softwarearchitectures. 1 todefineagait. abilitytomoveforward.

TABLEI

GAITPARAMETERSFORTHEOPEN-RPROTOTYPE

bodycenterxmm.85-9582.789.2 bodycenterzmm.-5-56.2-2.0 bodypitchdegrees-5-5-11.33.2 alllegsymm.5-2510.610.0 frontlegszmm.24-4024.725.0 rearlegszmm.15-2924.325.3 steplengthn.a.80-220152182 swingheightmm.15-2919.629.5 swingtimems.200-400421222 swingmult.n.a.1.5-2.52.41.7 switchtimems.500-900799617 ampl.bodyxmm.-2-20.6-0.4 ampl.bodyymm.0-2010.35.1 ampl.bodyzmm.-2-20.7-1.3 ampl.yawdegrees-2-2-2.91.6 ampl.pitchdegrees-3-3-0.43.7 ampl.rolldegrees-3-32.20.4 min.gainn.a.25-175103101 shiftdegrees60-12064125 lengthdegrees90-150117103 3 asinwave:

Thelegphasestartsat

??swingingforwardandup,at itstartstoswingbackward,andat??? ??itisbackatthe legsontheoppositesideofthebodyare ??outofphase. swingtimesofthelegs.

TABLEII

GAITPARAMETERSFORTHEERS-110

parameterunitinitialrangebestgait bodycenterxmm.105-125110.1 bodycenterzmm.-10-10-4.8 bodypitchdegrees-10-106.5 posturecenterxmm.0-20-1.8 alllegsymm.-5-157.4 frontlegszmm.10-3021.5 rearlegszmm.-5-1518.5 steplengthn.a.60-100124.4 swingheightfrontmm.25-4536.5 swingheightrearmm.25-4544.1 swingtimems.460-540503 swingmult.n.a.3-53.0 switchtimems.500-900974 ampl.bodyxmm.-10-10-1.8 ampl.bodyymm.-25--5-10.0 ampl.bodyzmm.-20-0-13.6 ampl.yawdegrees-10-100.9 ampl.pitchdegrees-10-10-0.5 ampl.rolldegrees-5-154.5

L-Rn.a.0.25-0.50.48

F-Hn.a.0.5-0.750.67

TABLEIII

RELATIVEPHASESFORDIFFERENTGAITS

LegCrawlTrotPaceSkip

rightforeleg0.00.00.00.0 leftforeleg0.50.50.50.0 righthind-leg0.750.50.00.5 lefthind-leg0.250.00.50.5

TABLEIV

PARAMETERVALUESFORDIFFERENTGAITS

ParameterCrawlTrotPaceSkip

L-R0.50.50.50.0

F-H0.750.50.00.5

C.EvaluatingaSetofGaitParameters

(a)(b) 4 thatithascomewithin20cmofawall. scores.Velocity, ???,istheaveragevelocityoftherobotduring strip, calculatingthestraightnessfunction, ?isconvertedtoa0-

1measureofoffsetbythefunction

?.Thestraightness function, color strip

TABLEV

SAMPLEVALUESFOR

???????800 ??????450.5 ???????101.0 ???????800.5 ??????450.75 ???????101 ????801 ?????451 ????101 orientation ?willbelargerwhentherobotisclosertothe colorstrip.Thesefunctionsaredefinedas: ??(2) ??????(3) ??(4) ???(5)

Forthefunction

?????,80and10areusedastheconstants measurabledistances.TableVlistsvaluesof ??for differentvaluesof ?and forthetrial,thesamescoreitwouldreceiveif ?isgreater than,orequalto, 5

D.EvolutionaryAlgorithm

[1]. begins. lowestfitness. randomlyandthemutatedvalueis, for ???and ??)andcreatesonechildindividual( ?).Eachgene ??isthe ?thgeneofthechildindividual; ????and ???arethe ?thgeneofparentsp1andp2; and ??isarandomnumberintherangeof-1to1. bestfitnessinthepopulationcandecrease.

III.EVOLVINGPACEANDTROTGAITSWITHTHE

OPEN-RPROTOTYPE

inthenextsection. notsuccessfulindevelopingatrotgait. 6 0 100
200
300
400
500
600
700
800

0 50 100 150 200 250 300 350 400 450 500 550 600

fitness evaluationsOPEN-R Prototype - Trot best average (a) 0 100
200
300
400
500
600
700
800

0 50 100 150 200 250 300

fitness evaluationsOPEN-R Prototype - Pace best average (b) gait. trotgaitisavailableonline[12]. (a)(b) (c)(d) (e)(f) gaitisavailableonline[12]. draggedathirdlegalongtheground. 7 (a)(b) (c)(d) (e)(f)

IV.EVOLVINGAROBUSTDYNAMICGAITWITHTHE

ERS-110

consumerversionofAIBO. 0 50
100
150
200
250
300
350
400
450
500

0 50 100 150 200 250 300 350 400 450 500

fitness evaluationERS-110 - Normal best average (a) 0 50
100
150
200
250
300
350
400
450
500

0 50 100 150 200 250 300 350 400 450 500

quotesdbs_dbs44.pdfusesText_44
[PDF] hume essais esthétiques

[PDF] hume de la norme du gout explication

[PDF] date cog humanoid robotics group mit

[PDF] les rovers spirit et opportunity sur mars nasa

[PDF] hume la regle du gout

[PDF] marché de la robotique domestique

[PDF] robot industriel

[PDF] wowwee rovio

[PDF] wowwee rovio 2

[PDF] robomow

[PDF] rovio wowwee software

[PDF] humminbird helix 5 francais

[PDF] humminbird helix 5 mode d'emploi

[PDF] humminbird helix 5 manuel

[PDF] humminbird helix 5 di gps manual