Control of a robot dinosaur

摘要

The Palaiomation Consortium, supported by the European Commission, is building a robot Iguanodon atherfieldensis for museum display that is much more sophisticated than existing animatronic exhibits. The current half–size (2.5 m) prototype is fully autonomous, carrying its own computer and batteries. It walks around the room, choosing its own path and avoiding obstacles. A bigger version with a larger repertoire of behaviours is planned. Many design problems have had to be overcome. A real dinosaur would have had hundreds of muscles, and we have had to devise means of achieving life–like movement with a much smaller number of motors; we have limited ourselves to 20, to keep the control problems manageable. Realistic stance requires a narrower trackway and a higher centre of mass than in previous (often spider–like) legged robots, making it more difficult to maintain stability. Other important differences from previous walking robots are that the forelegs have to be shorter than the hind, and the machinery has had to be designed to fit inside a realistically shaped body shell. Battery life is about one hour, but to achieve this we have had to design the robot to have very low power consumption. Currently, this limits it to unrealistically slow movement. The control system includes a high–level instructions processor, a gait generator, a motion–coordination generator, and a kinematic model.