Automatic Gait Generation and Recovery for Mobile Robots

移动机器人的自动步态生成和恢复

基本信息

  • 批准号:
    0413251
  • 负责人:
  • 金额:
    $ 34万
  • 依托单位:
  • 依托单位国家:
    美国
  • 项目类别:
    Standard Grant
  • 财政年份:
    2005
  • 资助国家:
    美国
  • 起止时间:
    2005-04-01 至 2008-03-31
  • 项目状态:
    已结题

项目摘要

This project explores new locomotion techniques that will enablerobotic systems to recover from a variety of failures. The primaryfocus is on a class of robot locomotion termed dynamically coupledlocomotion. The most familiar forms of locomotion, such as humanwalking or automobile rolling, employ kinematic coupling. Butlocomotory systems are subject to error conditions such as falling orbecoming high-centered. Recovery from such errors sometimes requireslocomotion modes that, while less efficient, are nonetheless essentialto the robustness and overall competence of the robotic system. Oneexample would be a six-legged robot that has become high-centered onan obstacle such that its legs no longer reach the ground -- byaggressively moving its legs it is possible to excite vibration modesthat cause the robot to gradually move off of the obstacle. Thespecific goal of this project is to explore the theoretical andpractical capabilities of such locomotion modes, to survey theirpotential application in mobile robotic systems, and to demonstratetheir usefulness in real robots. The main theoretical thrust of thework is to characterize the motion capabilities of dynamically coupledlocomotion, and to synthesize motion patterns for mobile robots torecover from errors. Experimental and simulation work will serve todemonstrate and validate the research. Surveys of mobile robotstructures and failure modes will provide context and grounding toassess the potential usefulness of the work.
该项目探索了新的运动技术,使机器人系统能够从各种故障中恢复。主要重点是一类机器人运动称为动态耦合运动。最常见的运动形式,如人类行走或汽车滚动,采用运动耦合。 但是运动系统会受到错误条件的影响,比如跌倒或变得高中心。 从这种错误中恢复有时需要运动模式,虽然效率较低,但对机器人系统的鲁棒性和整体能力至关重要。一个例子是一个六条腿的机器人,它已经成为高中心的障碍物,使它的腿不再到达地面-通过积极地移动它的腿,有可能激发振动模式,使机器人逐渐离开障碍物。 该项目的具体目标是探索这种运动模式的理论和实践能力,调查它们在移动的机器人系统中的潜在应用,并证明它们在真实的机器人中的有用性。 本论文的主要工作是研究动态耦合运动的运动能力,并为移动的机器人从错误中恢复而综合运动模式。 实验和模拟工作将有助于演示和验证的研究。 对移动的机器人结构和故障模式的调查将提供背景和基础,以评估这项工作的潜在有用性。

项目成果

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Alfred Rizzi其他文献

Alfred Rizzi的其他文献

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{{ truncateString('Alfred Rizzi', 18)}}的其他基金

GOALI: Controlled Coverage With Applications to Automated Robot Painting
GOALI:自动化机器人涂装应用的受控覆盖范围
  • 批准号:
    9987972
  • 财政年份:
    2000
  • 资助金额:
    $ 34万
  • 项目类别:
    Continuing Grant

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研究启动奖:研究新一代平衡康复辅助创新技术 (GAIT)
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