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

点击翻译按钮获取中文摘要

Proposal Title: RI-Medium: Collaborative Research: Robotic Parkour--DynamicClimbingInstitution: Northwestern UniversityAbstract Date: 05/29/08We propose to explore design, control, and motion planning for robotic parkour---thehighly dynamic form of locomotion that includes ascending chutes by leaping back andforth between opposing walls.Our broad goal is to give robots access to difficult-to-reach places by taking fulladvantage of their dynamics and the potential reaction forces afforded by theenvironment. The proposed work will address two challenge problems:1. To design, build, and control a planar robot to dynamically climb in a rigid verticalchute, and2. To design, build, and control a planar robot to reliably move from an initial state toany dynamically reachable goal state in a complex vertical environment of footholds atvarious orientations.The true goal of this work is not to build specific-climbing robots, but rather toaddress scientific issues fundamental to dynamic legged locomotion innon-trivial terrains by confronting these two challenges.NATIONAL SCIENCE FOUNDATIONProposal AbstractProposal:0803734 PI Name:Lynch, KevinPrinted