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This Concept Map, created with IHMC CmapTools, has information related to: 4.0, The simulated robot can recover from small disturbances. 1.2.1.1.1.4.2.1 The simulated robot passes the "ball test"., GT4 Exit Criteria: Simulated R2 robot walks, turns, and recovers from small disturbances in Earth and reduced gravities on flat ground. 1.2.1.1.1.4.2 The simulated robot can recover from small disturbances., Baseline Grant 1.4 TM 12/2010: A copy of R2C robot hardware is installed at IHMC robotics laboratory., GT4 Exit Criteria: Simulated R2 robot walks, turns, and recovers from small disturbances in Earth and reduced gravities on flat ground. 1.2.1.1.1.4.1 The simulated Robot can walk., GT3 Exit Criteria: The theoretical models developed will be simulated and verified and shown to be approximations of the full robot model for the given dynamics of interest. 1.2.1.1.1.1.2.1 Real Robot must exist first in order to validate., Grant Task 7: Development and Experiments on R2C Robot. 18% Total Funded Work 1.2.5 GT7 Prerequisites: R2C is designed, built, and integrated with the Argos system., Final Models 1.2.1.1.3.1.3 Additional Model Refinements, Grant Task 3: Develop theoretical models for locomotion at various gravities. 10% Total Funded Work 1.2.1.1.1.1.2 GT3 Exit Criteria: The theoretical models developed will be simulated and verified and shown to be approximations of the full robot model for the given dynamics of interest., Final estimates of joint layout, link lengths, and inertial parameters provided by JSC -- in August 1.2.1.1.3.1.2.1 TM 01/2010: Initial joint torque and speed estimates are extracted from the simulation., Grant Task 4: Develop flat ground walking algorithm for various gravities. 28% Total Funded Work 1.2.1.1.1.4 GT4 Exit Criteria: Simulated R2 robot walks, turns, and recovers from small disturbances in Earth and reduced gravities on flat ground., Grant Task 4: Develop flat ground walking algorithm for various gravities. 28% Total Funded Work 1.2.1.1.1.3 GT4 Deliverables: Simulation video demonstration., GT5 Exit Criteria: The walking algorithm development team has all the tools and control modules that they need. ???? The utilities are complete., IHMC Unsolicited Proposal 0.3 Option 2-- Unfunded Work Improve Algorithm Capabilities and Reliability and Make Flight Ready, Refinements of the initial R2C Model 1.2.1.1.3.1.1.2.5 The actuator bandwidth is limited., Grant Task 5: Develop and refine walking algorithm tools and control modules. 18% Total Funded Work 1.2.1.1.1.5.2 GT5 Exit Criteria: Robot Construction Set running and tested on R2 brain and controlling at least one joint., Grant Task 5: Develop and refine walking algorithm tools and control modules. 18% Total Funded Work 1.2.1.1.1.5.4 Deliverables: Software documentation on the various tools and control modules., The simulated robot can recover from small disturbances. 1.2.1.1.1.4.2.3 other definitions of disturbances?, Grant Task 4: Develop flat ground walking algorithm for various gravities. 28% Total Funded Work 1.2.1.1.1.5 Grant Task 5: Develop and refine walking algorithm tools and control modules. 18% Total Funded Work, Grant Task 5: Develop and refine walking algorithm tools and control modules. 18% Total Funded Work 1.2.1.1.1.5.3 GT5 Exit Criteria: The walking algorithm development team has all the tools and control modules that they need., Option 1-- Unfunded Work 2.1 Developing simulation of various reduced gravity gaits.