Geometric Methods for Analyzing and Controlling Undulatory Locomotion Systems

分析和控制波动运动系统的几何方法

• 批准号: 9711834
• 负责人: James Ostrowski
• 金额: $ 20.93万
• 依托单位: University of Pennsylvania
• 依托单位国家: 美国
• 项目类别: Continuing grant
• 财政年份: 1997
• 资助国家: 美国
• 起止时间: 1997-09-01 至 2000-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9711834&HistoricalAwards=false
• 关键词: Geometric; Methods; Analyzing; Controlling; Undulatory

This research studies the geometric aspects of motion generation and control for a large class of locomotion systems involving cyclic internal shape changes (often called undulatory). Particular emphasis is placed on the geometry and dynamics of robotic swimming motions, with models derived from the basic locomotion mechanisms found in eels, fish, and paramecia. This requires investigating continuous (in terms of shape and actuation) dynamic systems and addressing the associated design and control theoretic challenges. Optimal control theory is also employed to study both the optimality of gaits found in biological systems and to design more efficient forms of aquatic robotic locomotion. Swimming robotic mechanisms offer many potential advantages over rotor-driven devices, including increased efficiency, flexibility, and agility, and can be used in underwater search and rescue to enter areas that are not easily accessible by traditional vehicles. In this work, theoretical results will be tightly coupled with experimental verification and the development of robotic systems. This research also builds a foundation for future work in areas such as dynamic analyses of biological gaits and group swimming patterns, underwater surveillance and detection, and micro- locomotion. A long-term goal of this research is to fabricate locomotion devices on the cellular biological scale using MEMS technology.

这项研究研究了涉及循环内部形状变化（通常称为波动）的一大类运动系统的运动生成和控制的几何方面。 特别强调机器人游泳运动的几何形状和动力学，其模型源自鳗鱼、鱼类和草履虫的基本运动机制。 这需要研究连续（在形状和驱动方面）动态系统并解决相关的设计和控制理论挑战。 最优控制理论还用于研究生物系统中步态的最优性，并设计更有效的水生机器人运动形式。 与转子驱动设备相比，游泳机器人机构具有许多潜在优势，包括提高效率、灵活性和敏捷性，并且可用于水下搜索和救援，以进入传统车辆不易进入的区域。 在这项工作中，理论结果将与实验验证和机器人系统的开发紧密结合。 这项研究还为生物步态和群体游泳模式的动态分析、水下监视和检测以及微运动等领域的未来工作奠定了基础。 这项研究的长期目标是利用 MEMS 技术制造细胞生物规模的运动装置。