RI: Robust implementation of foot placement for balance of 3D bipedal walking

康奈尔大学的安迪·瑞纳小组将掌握机器人行走中脚位作为平衡手段的使用方法。Ruina之前的研究表明，原则上，一个机器人可以在一次电池充电的情况下行走10-20公里，就像一个人可以在一顿好饭的能量下行走类似的距离一样。然而，在实践中，今天典型的机器人只能走几十米。高效的机器经常出故障。稳定的机器耗尽了能量。今天的机器人要么是高效的，要么是稳定的，但不是两者兼而有之。这个缺点代表了对脚的位置平衡的本质缺乏理解。Ruina的方法将建立在他的康奈尔实验室成功制造双足机器人的基础上，这种机器人的单位距离和单位质量的能量消耗与人类相当。新的机器人将通过控制脚的位置来保持平衡，从而提高以前高效机器的鲁棒性。所提出的新机器人的成功设计和建造将证明在类人机构设计中保持能量效率，控制简单性和控制鲁棒性的效用。此外，对机器效率和稳定性的一般理解将得到加强。

Andy Ruina's group at Cornell will master the use of footplacement as a means for balance in robotic walking. Ruina'sprevious research shows that, in principle, a robot could walk,say, 10-20 km on a single battery charge much like a person canwalk a similar distance on energy from a good meal. In practice,however, typical robots today only walk tens of meters. Theefficient machines fall down too often. The stable machines runout of energy. Today's robots are either efficient or stable,but not both. This shortcoming represents a lack of understandingof the nature of balance using foot placement.Ruina's approach will build on his Cornell lab's success inmaking bipedal robots whose energy use, per unit distance andmass, is comparable to that of humans. The new robots willimprove on the robustness in the previous efficient machines byusing controlled foot placement for balance.Successful design and construction of the proposed new robotswill demonstrate the utility of holding energetic efficiency,control simplicity and control robustness paramount in the designof humanoid mechanisms. Further, general understanding ofmachine efficiency and stability will be enhanced.