NSF Young Investigator Award

本研究强调交互控制和反射控制 在自治系统中。 与环境的物理相互作用 (e.g.,开门;移动障碍物;遵守 机械约束）是反应式自主的关键因素 系统和阻抗控制将进一步提供这样的 行为 特别是稳定和“温柔”的操纵 行为将被调查，并使用原则构建 被动的物理等价物。 目标结果行为应该 实现任何数量的独立的稳定的相互作用- 控制机器。 这种物理行为将提供一个 适合于研究反射式、更高层次 控制器。 反射控制器，就像传统控制器一样 系统，基于感官输入生成命令。 不像 传统的控制，虽然，反射般的反应调用逻辑- 的操作和开关模式操作，这些操作无法在 输入或输出的线性叠加的传统术语。 这种非线性控制结构的使用已经被证明是高度有效的。 不过，这对理解生物的控制很有价值， 这种控制不足以理解为应用于机器。 在这项研究中，生物刺激/反应行为将 在构建计算机控制时模仿， 实验研究稳定性和设计 基于行为的系统技术。//

This research emphasizes interaction control and reflex control in autonomous systems. Physical interaction with the environment (e.g., opening doors; moving obstructions; complying with mechanical constraints) is a key ingredient of reactive autonomous systems, and impedance control will be furthered to provide such behavior. In particular, stable and "gentle" manipulation behaviors will be investigated and constructed using principals of passive physical equivalents. The target resulting behavior should achieve stable interaction among any number of independently- controlled machines. Such physical behavior will provide a suitable platform for investigation of reflex-like, higher-level controllers. Reflex controllers, like conventional control systems, generate commands based on sensory inputs. Unlike traditional control, though, reflex-like responses invoke logic- based and switched-mode actions that cannot be analyzed in the traditional terms of linear superposition of inputs or outputs. Use of such nonlinear control constructions has proven highly valuable in understanding control in biological creatures, though such control is inadequately understood to be applied to machines. In this research, biological stimulus/response behaviors will be mimicked in constructing computer controls for the purpose of experimentally investigating stability properties and design techniques for behavior-based systems. //