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Animal Robot Mini Cheetah: Department of Mechanical Engineering

The document describes Mini Cheetah, a small agile quadruped robot developed at MIT that can walk, run, and perform backflips. It has 18 degrees of freedom, weighs 9 kg, and can move at speeds up to 8.8 km/h. Mini Cheetah uses model predictive control and whole-body control to achieve dynamic locomotion through trotting, pronking, bounding and pacing gaits. Its control architecture computes desired joint torques from user commands to enable robust and energetic mobility.

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MRINAL MAGAR
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123 views10 pages

Animal Robot Mini Cheetah: Department of Mechanical Engineering

The document describes Mini Cheetah, a small agile quadruped robot developed at MIT that can walk, run, and perform backflips. It has 18 degrees of freedom, weighs 9 kg, and can move at speeds up to 8.8 km/h. Mini Cheetah uses model predictive control and whole-body control to achieve dynamic locomotion through trotting, pronking, bounding and pacing gaits. Its control architecture computes desired joint torques from user commands to enable robust and energetic mobility.

Uploaded by

MRINAL MAGAR
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Vishwakarma Institute Of Technology, Pune .

Department Of Mechanical Engineering

Animal Robot
Mini Cheetah
Group Members:
Rutwik Bonde, Mech A - 29, 1710207
Mrinal Magar, Mech B - 43, 1710372
Chetan Bokade, Mech A - 28,1710448
Introduction to Mini Cheetah

▰ Mini Cheetah is a small, agile


four-legged robot that can walk,
run and also do backflips. It is
robust and has powerful
actuators, allowing researchers
to perform experiments and test
new controllers without fear of
breaking the robot. Various
instruments can be mounted on
it for applications in inspection,
disaster management, harmful
areas (for human), etc.
Mechanical Specifications

▰ FEATURES: Mechanically robust design that can survive high-impact falls and
accidents. Large range of motion at each joint allows operation forwards,
backwards, or upside-down. High speed, high torque actuators let the robot
perform extremely dynamic maneuvers like backflips. Omni directional
movement with trotting, pronking, bounding, and pacing gaits.
▰ HEIGHT: 30 cm | 11.8 in
▰ LENGTH: 48 cm | 18.9 in
▰ WIDTH: 27 cm | 10.6 in
▰ WEIGHT: 9 kg | 20 lb
▰ SPEED: 8.8 km/h | 5.5 mph (2.45 m/s forwards, 1 m/s sideways, in-place
turning at 5 radians per second)
▰ DEGREES OF FREEDOM (DOF): 18 (3 actuated DOF per leg: 6 non-actuated
DOF) 
▰ MATERIALS: Aluminum, plastic protectors
Electronics and Software Specifications

▰ SENSORS: Vectornav VN-100 IMU, hall-effect encoders at each motor 


▰ ACTUATORS: Custom modular, low-gear ratio, backdriveable
actuators with integrated electronics and high-bandwidth torque
control 
▰ POWER120-Wh: lithium-ion battery for 30 minutes to 2 hours
operation, depending on tasks 
▰ COMPUTING: UP Board with quad-core Intel Atom processor for
locomotion control. ST Microelectronics STM32F4 microcontroller in
each actuator for joint-level control at 40 kHz 
▰ SOFTWARE: Linux with CONFIG PREEMPT RT patch 
Special feature of Mini Cheetah: The Backflips

▰ Mini Cheetah is the first quadruped to do a 360 degree backflip.


▰ MIT Researchers were able to make backflips before it could even walk.

sting 9 New Mini Cheetahs.mp4


Overall Control Framework of Mini Cheetah

▰ Using the user commanded gait type, speed, and direction from the
RC-controller, the MPC computes desired reaction forces and
foot/body position commands. From these, WBC computes joint
torque, position, and velocity commands that are delivered to the
each joint-level controller. Each component’s update frequency is
represented by the color of its box
Control Architecture of Mini Cheetah

▰ The proposed control architecture consists of two parts: Model predictive


control (MPC)and whole-body control (WBC). The reaction forces computed
by MPC are modified by WBC to incorporate body stabilization and swing leg
control. The final commands found in WBC are sent to the robot to perform
dynamic locomotion.
Model Predictive Control (MPC)

▰ MPC: Model Predictive Control (MPC), also known as Moving Horizon Control (MHC) or
Receding Horizon Control (RHC), is a popular technique for the control of slow dynamical
systems, such as those encountered in chemical process control in the petrochemical, pulp
and paper industries, gas pipeline control, waste heat boiler, and active vibration control of
railway vehicle. Using the definition of Lee and Marcus 1967 - MPC is one technique for
obtaining a feedback controller synthesis from knowledge of open loop controllers to
measure the current processes state and then compute very rapidly for this open-loop control
function. The first portion of this function is then used during a short interval, after which a
new value of the function is computed for this measurement
▰ MPC consist of the following three ideas:
1) Explicit use of a model to predict the process output along a future time horizon
2) Calculation of a control sequence to optimize a performance index
3) A receding horizon strategy, so that at each instant the horizon is moved towards the
future, which involves the application of the first control signal of the sequence calculated at
each step.
Whole Body Control

▰ Whole body control means a control framework proposed by Prof. Oussama


Khatib. The framework is also known as task space control, operational space
control, or operational space formulation.
▰ When you control a robot with many joints, it's hard to compute a desired
angle/torque set of joints. Traditional approach is inverse kinematics(IK), which is
a geometric solution. IK-based control is still good, but here is a different
approach, whole body control, which computes a desired angle/torque set, given
a desired position/orientation of a robot's fingertip.
▰ Therefore, if you used this framework, you could easily control complex robots
without using IK. Also, if the robot had torque sensor at each joint, all of force,
position and orientation of fingertip would be controlled in hybrid way.
References

▰ https://news.mit.edu/2019/mit-mini-cheetah-first-four-legged-robot-to-backflip-0304
▰ https://robots.ieee.org/robots/minicheetah/
▰ https://www.firstpost.com/tech/news-analysis/mits-mini-cheetah-robot-can-trot-resist-kicks-and-also-perfor
m-back-flips-6192331.html
▰ MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot:
https://doi.org/10.1109/IROS.2018.8593885
▰ Design Principles for Energy Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot:
http://hdl.handle.net/1721.1/108096
▰ Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control:
https://
www.researchgate.net/publication/335855260_Highly_Dynamic_Quadruped_Locomotion_via_WholeBody_I
mpulse_Control_and_Model_Predictive_Control
▰ MPC:https
://www.ajol.info/index.php/njt/article/view/123569/113097#:~:text=MPC%20strategy%20involves%20the%2
0optimization,on%20inputs%20and%20outputs%2Fstates
.

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