RI-Medium: Collaborative Research: Robotic Parkour--Dynamic Climbing

RI-Medium：协作研究：机器人跑酷——动态攀爬

• 批准号: 0803734
• 负责人: Kevin Lynch
• 金额: $ 24万
• 依托单位: Northwestern University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2008
• 资助国家: 美国
• 起止时间: 2008-08-01 至 2011-11-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0803734&HistoricalAwards=false
• 关键词: RI; Medium; Collaborative; Research; Robotic

We propose to explore design, control, and motion planning for robotic parkour---the highly dynamic form of locomotion that includes ascending chutes by leaping back and forth between opposing walls.Our broad goal is to give robots access to difficult-to-reach places by taking full advantage of their dynamics and the potential reaction forces afforded by the environment. The proposed work will address two challenge problems:1. To design, build, and control a planar robot to dynamically climb in a rigid vertical chute, and2. To design, build, and control a planar robot to reliably move from an initial state to any dynamically reachable goal state in a complex vertical environment of footholds at various orientations.The true goal of this work is not to build specific-climbing robots, but rather to address scientific issues fundamental to dynamic legged locomotion in non-trivial terrains by confronting these two challenges.

我们建议探索机器人跑酷的设计、控制和运动规划——一种高度动态的运动形式，包括通过在相对的墙壁之间来回跳跃来上升滑道。我们的总体目标是通过充分利用机器人的动力和环境提供的潜在反作用力，让机器人能够进入难以到达的地方。拟议的工作将解决两个挑战问题：1。设计、建造和控制平面机器人在刚性垂直滑道中动态攀爬，以及2。设计、构建和控制平面机器人，使其在各种方向的立足点的复杂垂直环境中可靠地从初始状态移动到任何动态可达到的目标状态。这项工作的真正目标不是构建特定的攀爬机器人，而是通过面对这两个挑战来解决非平凡地形中动态腿式运动的基本科学问题。