Japan STA Program: Dynamical Robotic Walking

该奖项支持Peter Swanson博士在日本筑波机械工程实验室（MEL）获得为期24个月的日本科学技术振兴机构（STA）博士后奖学金。Swanson博士将与机器人学系自主机械部主任Tatsuo Arai博士合作，开展一个名为“动态机器人行走”的研究项目。本研究将探讨被动元件在动态机器人行走中的应用。目前的机器人行走策略大多是静态稳定的：机器人可以在任何时候停止而不会摔倒。然而，动力学和生物学的最新进展表明，弹簧和阻尼器等被动元件有助于动态稳定行走，而不需要不合理的控制努力或静态稳定性。在机械工程实验室的研究项目过程中，现场现有的有腿机器人之一将被修改为被动组件，并将开发一种控制策略，以允许动态机器人在没有静态稳定性约束的情况下行走。新的动态行走行为将提高机器人的自主行为能力，并提高其与环境动态交互的能力。＊＊＊

9602490 Swanson This award supports a 24 month Science and Technology Agency of Japan (STA) Postdoctoral Fellowship for Dr. Peter Swanson at the Mechanical Engineering Laboratory (MEL), Tsukuba, Japan. Dr. Swanson will work with Dr. Tatsuo Arai, Director of the Autonomous Machinery Division, Department of Robotics, on a research project entitled, "Dynamical Robot Walking." The proposed research will explore the use of passive components in dynamic robot walking. Current robot walking strategies are mostly statically stable: the robot could stop at any time without falling over. However, recent advances in dynamics and biology suggest that passive components such as springs and dampers assist in dynamically stable walking without requiring unreasonable control effort or static stability. In the course of the research project at the Mechanical Engineering Laboratory, one of the existing legged robots at the site will be modified with passive components, and a control strategy will be developed to allow dynamical robot walking without static stability constraints. The new dynamical walking behavior will improve the robot's ability to function in an autonomous manner and its ability to interact dynamically with their environment will be improved. ***