U.S.-France Cooperative Research: Nonlinear Control for Biped Walking Robots

9980227grizzle这项为期三年的美法电气和通信系统合作研究奖的获得者包括密歇根大学的研究生Jessy Grizzle、法国南特控制学研究所的Claude Moog、Christine Chevallereux和法国路易斯巴斯德大学的Franck Plestan。该项目由国家科学基金会和法国国家科学研究中心（CNRS）资助，将促进两足行走机器人自动控制方面的合作。研究人员将重点关注与设计这些机器人的分析方法相关的问题。这项研究建立在先前对一个欠驱动的五自由度双足机器人的周期性行走周期的数学分析基础上，该机器人由两条刚性腿和一个躯干组成，但没有膝盖。本研究将扩展分析到欠驱动七自由度双足机器人的渐近稳定行走运动设计。它利用了一个由法国团队开发的身高1.425米、有躯干和膝盖的两足机器人。美国研究人员为这次合作带来了非线性控制分析和设计方面的专业知识。法国车队的经验和试验平台也补充了这一点。这些研究将促进我们对机器人非线性控制的分析方法的理解，以及它在改善崎岖地形运动和假肢开发和测试中的应用的潜力。

9980227GrizzleThis three-year award for U.S.-France cooperative research in electrical and communication systems involves Jessy Grizzle, a graduate student from the University of Michigan, Claude Moog, Christine Chevallereux of the Institut de Recherche de Cybernetique, Nantes, France, and Franck Plestan of the University Louis Pasteur. The project, supported under a program of the National Science Foundation and the French National Center for Scientific Research (CNRS), will facilitate collaboration on automatic control of biped-walking robots. The investigators will focus on issues related to analytical methodology for designing these robots. The research builds on previous mathematical analysis of a periodic walking cycle of an under actuated, five degree of freedom biped robot, consisting of two rigid legs and a torso, but no knees. This research will extend the analysis to design of asymptotically stable walking motions for an under actuated, seven degree of freedom biped robot. It takes advantage of access to a 1.425 m biped robot, complete with a torso and knees, that has been developed by the French team.The U.S. investigator brings to this collaboration expertise in nonlinear control analysis and design. This is complemented by the experience and experimental testbed of the French team. The studies will advance our understanding of the analytical methodology involved in nonlinear control of robots and its potential for improving locomotion in rough terrain and uses in prosthesis development and testing.