Design and Control of a Walking Robot

行走机器人的设计与控制

• 批准号: 9212126
• 负责人: Wijesuriya Dayawansa
• 金额: $ 36.5万
• 依托单位: University of Maryland, College Park
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1992
• 资助国家: 美国
• 起止时间: 1992-09-15 至 1996-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9212126&HistoricalAwards=false
• 关键词: Design; Control; Walking; Robot

This project is to expose senior-level undergraduates in electrical and mechanical engineering to recent research advances by focusing on a specific application. The application selected is the design and control of a walking robot. The main reasons for this choice are (i) the recent experience of some of the PI's (Azarm, Dayawansa, Tsai) in directing groups of senior undergraduates to design, build and test rudimentary walking robots (in the context of a course) and (ii) the almost endless possibility of incorporating advanced concepts and techniques (mechanisms synthesis, nonlinear control, speech recognition). The current course will be restructured. Main aspects will include: (i) incremental development of a long term (three-year cycle) project, with different focus each year; (ii) emphasis on application of research results obtained by the PI's and their research groups; (iii) creating an environment conducive to interdisciplinary research and education; (iv) active involvement of graduate students in transferring their research results to undergraduates and thus complementing more theoretical thesis work; (v) industrial and federal involvement; (vi) strong connection with the ECSEL program. This course will be cross-listed in Electrical Engineering and Mechanical Engineering.

该项目旨在通过关注特定应用，让电气和机械工程专业的高年级本科生了解最新的研究进展。 所选应用是步行机器人的设计和控制。 做出这一选择的主要原因是 (i) 一些 PI（Azarm、Dayawansa、Tsai）最近在指导高年级本科生小组设计、构建和测试基本步行机器人（在课程中）的经验以及 (ii) 融入先进概念和技术（机制综合、非线性控制、语音识别）的几乎无限的可能性。 目前的课程将进行重组。 主要方面包括：（i）长期（三年周期）项目的增量开发，每年都有不同的重点； (ii) 重视应用首席研究员及其研究小组取得的研究成果； (iii) 创造有利于跨学科研究和教育的环境； (iv) 研究生积极参与将其研究成果转移给本科生，从而补充更多的理论论文工作； (v) 工业界和联邦的参与； (vi) 与 ECSEL 计划的紧密联系。 本课程将交叉列在电气工程和机械工程中。