MRI: Acquisition of Bipedal Robot Facility to Support Research into Improvement of Orientation and Stability of Locomotion

该项目增强了带有前庭和视觉传感器的人形双足机器人，旨在创建双足机器人设施，用于研究使机器人以动态稳定的方式行走，从而更加人性化。在连续双足运动期间（当身体可能因不平坦的地形而俯仰、偏航或滚动时）将视线集中在感兴趣的点上的能力是人类相当有效地执行的一种自动功能。对行走和转弯过程中与头部和身体控制相关的基本感觉运动策略进行建模可以帮助我们了解基本的人类功能。双足机器人有望在不平坦的地形上更有效地机动；然而，这样的地形极具挑战性。下一代机器人车辆必须在需要涉及动态稳定性的步态的条件下运行；因此，需要认真考虑动态稳定的运动稳定性。这项工作利用凝视稳定作为动态稳定步态的控制策略，这是机器人技术中一个尚未解决的难题。这一策略得到了最近心理学研究的支持。迄今为止，即使是最先进的腿式机器人也不会尝试结合这种类型的感官信息。由两名计算机科学家和一名心理学研究人员组成的团队根据对人类运动的广泛研究假设，这样做将对机器人步态的稳定性产生革命性的影响。该项目模仿了多种动物（包括人类、鸟类、袋鼠、蛇怪等爬行动物）的感觉能力以及这些动物使用这种感觉能力的方式，旨在改善双足机器人的步态。此外，该研究还将通过三个较长的项目得到加强： - 建造人形机器人，可以在不平坦的地形上快速行走，同时保持稳定性并执行类似人类的步态； - 理解人类步态； - 设计假肢，帮助那些因帕金森病等疾病而无法获得正常步态的人。 更广泛的影响：与许多校园的计算机科学和神经病学其他教师的积极合作，鼓励有效的多学科和多实体使用仪器。这些机器人将在三个班级中用作演示系统，惠及许多学生。此外，一项涉及少数族裔的早期高中数学和科学参与计划已经到位。 OpenPINO，一个类似 linux 的开源用户社区中心，以及一个鼓励传播的网站。

This project, enhancing a humanoid bipedal robot with vestibular and vision sensors, aims at creating Bipedal Robot Facility for research on making robots walk in a dynamically stable, and thus more human fashion. The ability to keep gaze concentrated on a point of interest during continuous bipedal locomotion (when the body might pitch, yaw, or roll in response to uneven terrain) is an automatic function that humans perform rather efficiently. Modeling the fundamental sensorimotor strategies associated with head and body control during walking and turning has led to understanding basic human functions. Bipedal robots are expected to maneuver more efficiently over uneven terrain; however, such terrain is extremely challenging. The next generation of robot vehicles will have to operate in conditions that require gaits that involve dynamic stability; thus, serious consideration needs to be given to dynamically stable motion stabilization. This work utilizes gaze stabilization as a control strategy for a dynamically stable gait, a difficult unsolved problem in robotics. This strategy is supported by recent psychological research. To date even the most advanced legged-robots do not attempt to combine this type of sensory information. The team consisting of two computer scientists and a psychology researcher hypothesizes, based on extensive work in human locomotion, that doing so will have a revolutionary effect on the stability of the robot gait. Mimicking the sensory capability of a wide range of animals-including humans, birds, kangaroos, reptiles like the basilisk-and the way that these animals use this sensory capacity, the project aims at improving the bipedal robot gaits. Moreover, the research will be enhanced by three longer projects:-Building humanoid robots that can walk quickly over uneven terrain while maintaining stability and performing a human-like gait;-Understanding human gait; and-Designing prostheses that can help humans who are otherwise unable to attain a normal gait due to pathologies such as Parkinson's disease.Broader Impact: Active collaboration with other faculty in CS and neurology at many campuses encourage effective multi-disciplinary and multi-entitity use of the instrumentation. Reaching many students, the robots will be used as demonstration systems in three classes. Moreover, an early High School program for participation for math and science, involving minorities, is in place. OpenPINO, a center of a linux-like open-source user community, and a Web-site encourage dissemination.