Hybrid Control for Agility and Efficiency in Bipedal Robots with Compliance

建议编号：0600869PI-GrizzleIntelligence优点：这项研究的目标是创建一种混合系统理论，该理论足够丰富，可以控制两足机器人，使其能够行走、奔跑，并像人类一样适应不同的地形。将开发一种反馈设计方法，该方法是系统的，可证明是正确的，允许权衡分析，并拥有有效的符号和数值计算工具。这种方法将在具有串联顺应性驱动的腿式机器上进行说明。具有柔性驱动器的机器人的混合零动力学将被研究并应用于具体的运动控制问题，如在平坦表面上能量高效地运行，以及在凹凸不平的表面上行走。更广泛的影响：两足运动研究在医学上有重要的应用，包括假肢和行走和平衡的康复。理解机器中稳定的动态运动比在人体中简单得多，但这是一个很好的起点。现在，研究已经了解了在能够拟人化步态的机器中实现稳定运动需要什么，因此有可能利用这一知识作为跳板，研究如何恢复受伤人员的运动能力。PI还与密歇根州S.E.的瑟斯顿高中合作，开发与这项研究提案相关的教育材料，适合在高中科学课程中使用。

Proposal Number: 0600869PI - GrizzleIntellectual Merit: The objective of this research is to create a theory of hybrid systems that is rich enough to control a bipedal machine so that it can walk, run, and adapt its gait to varying terrain, like a human. A feedback design method will be developed that is systematic, provably correct, permits tradeoff analysis, and has effective symbolic and numerical tools for computations. The approach will be illustrated on legged machines with series compliant actuation. The hybrid zero dynamics of robots with compliant actuators will be studied and applied to specific motion control problems, such as energetically efficient running on a flat surface, and walking on uneven surfaces. Broader Impacts: There are important medical applications of bipedal locomotion research, including prostheses for the lower limbs and rehabilitation of walking and balance. Understanding stable dynamic motion in a machine is far simpler than in a human body, but it is a good place to start. Now that research is yielding an understanding of what it takes to achieve stable locomotion in machines capable of anthropomorphic gaits, it is possible to use this knowledge as a springboard in the search to recover locomotion ability in people who have suffered injuries. The PI is also cooperating with Thurston High School in S.E. Michigan to develop education material related to this research proposal that is appropriate for use in high school science courses.