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

安迪·鲁纳在康奈尔大学的团队将掌握在机器人行走中使用脚位作为平衡的一种手段。Ruina之前的研究表明，原则上，一个机器人一次充电可以行走10-20公里，就像一个人可以依靠一顿美餐的能量走同样的距离一样。然而，在实践中，今天典型的机器人只走几十米。效率高的机器经常出故障。马厩里的机器耗尽了能量。今天的机器人要么高效，要么稳定，但不是两者兼而有之。这一缺陷代表了对脚位平衡本质的缺乏理解。鲁纳的方法将建立在他的康奈尔实验室成功制造两足机器人的基础上，这种机器人的单位距离和质量的能量消耗与人类相当。这种新型机器人将通过控制脚的放置来保持平衡，从而提高了以前的机器人的健壮性。成功地设计和建造这种新型机器人将证明，在仿人机构的设计中，保持能量效率、控制简单性和控制健壮性是最重要的。此外，还将增强对机器效率和稳定性的一般了解。

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.