Integrated Control and Mechanical Design of Biped Robots for Stable and Efficient Dynamic Walking

0408348用于稳定和高效动态行走的两足机器人的集成控制和机械设计：俄亥俄州立大学哥伦布分校的E.R.Westvelt和J.Schmiedeler。研究人员提议制定和实验验证第一个正式集成控制器设计和机械设计的框架，以开发具有稳定、健壮和高能效的步态的两足机器人。由于对如何在给定的机械设计中系统地生成诱导动态行走的控制器缺乏形式化的理解，目前的两足动物控制设计与机械设计是解耦的。通过设计一个程序来生成这样的控制器，迭代设计框架将成为可能。量化闭环系统特性的能力将使开发更好的设计和确定其所基于的原则成为可能。该框架将用于设计两足动物的原型，以进行方法的实验验证。此外，该框架将用于研究与关节顺应性、足部功能和学习相关的控制和设计问题。这项拟议的工作使研究人员能够开发出不同形态的两足动物原型，这些原型以动态稳定的步态行走，比迄今取得的任何成果都更加健壮和高效。该框架将为自主两足动物的系统开发提供基础，这些两足动物被赋予从行走和跑步到爬楼梯和爬行等各种有用的行为。

0408348 AbstractIntegrated Control and Mechanical Design of Biped Robots for Stable and Efficient Dynamic Walking: E.R. Westervelt and J. Schmiedeler, The Ohio State University, Columbus.The investigators propose to formulate and experimentally validate the first framework that formally integrates controller design and mechanical design for the development of biped robots that walk with gaits that are a priori known to be stable, robust, and energy efficient. Current biped control design is decoupled from mechanical design due to a lack of formal understanding of how to systematically generate controllers that induce dynamic walking in a given mechanical design. By devising a procedure to generate such controllers, an iterative design framework will be possible. The ability to quantify closed-loop system characteristics will enable the development of superior designs and the identification of principles upon which they are based. The framework will be applied to design a prototype biped for experimental validation of the methodology. Furthermore, the framework will be used to investigate the control and design issues related to joint compliance, foot utility, and learning. The proposed work enable researchers to develop biped prototypes of different morphologies that walk with dynamically stable gaits more robust and more efficient than any achieved to date. The framework will provide the foundation for the systematic development of autonomous bipeds endowed with a variety of useful behaviors ranging from walking and running to stair climbing and crawling.