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

我们建议探索机器人跑酷的设计、控制和运动规划——这是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。我们的大目标是通过充分利用机器人的动力学和环境提供的潜在反作用力，使机器人能够到达难以到达的地方。建议的工作将解决两个挑战问题：1。设计、制造并控制平面机器人在刚性垂直溜槽内动态爬升；设计、制造和控制平面机器人，使其在不同方向的复杂垂直立足点环境中从初始状态可靠地移动到任何动态可达的目标状态。这项工作的真正目标不是建立特殊的；c-攀爬机器人，而不是解决科学问题；通过面对这两个挑战，C问题是在非平凡地形中动态腿运动的基础。

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.