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Collaborative Proposal: Abstraction-Based Motion Programs for Complex, Interconnected Systems

协作提案：复杂互连系统的基于抽象的运动程序

基本信息

批准号：
0820004
负责人：
Magnus Egerstedt
金额：
$ 21.29万
依托单位：
Georgia Tech Research Corporation
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2008
资助国家：
美国
起止时间：
2008-07-01 至 2012-06-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=0820004&HistoricalAwards=false
关键词：
Collaborative Proposal Abstraction Based Motion

项目摘要

Proposal Number: 0820004/0819929TITLE: Abstraction-Based Motion Programs for Complex, Interconnected SystemsPIs: Magnus Egerstedt and Todd MurpheySystematic approaches to abstraction-based motion control of complex, physical systems are still largely missing from the control-theoretic foundations of embedded system design. Examples of high-degree of freedom physical systems include humanoids, multi-leg robots, minimally-invasive surgical robotics, and cooperative systems. This work aims at understanding how high-level motion program languages can be made to form a basis for an effective software system for such complex, interconnected mechanical systems. For this, novel tools and techniques are to be developed along the following directions: 1) construction of motion description languages based on optimal control techniques; 2) development of a novel, graph-based representation of mechanical systems that allows for a compact representation of mechanical systems for simulation and analysis; 3) automatic generation of dynamically feasible motion primitives from empirical data; 4) development of an experimental testbed based on autonomous marionette puppets that can execute the developed motion programs--this testbed will also serve as a unique learning environment for students in that it requires an understanding of highly nonlinear dynamic systems, networking architectures for synchronization, hybrid systems, and optimal control.

题目：复杂互联系统的基于抽象的运动程序spi: Magnus Egerstedt和Todd murphy基于抽象的复杂物理系统运动控制的系统方法在嵌入式系统设计的控制理论基础中仍然很大程度上缺失。高自由度物理系统的例子包括类人机器人、多腿机器人、微创手术机器人和协作系统。这项工作的目的是了解如何高层次的运动程序语言可以形成一个有效的软件系统的基础，这种复杂的，相互关联的机械系统。为此，新的工具和技术将沿着以下方向发展：1)基于最优控制技术的运动描述语言的构建；2)开发一种新颖的，基于图形的机械系统表示，允许机械系统的紧凑表示进行仿真和分析；3)根据经验数据自动生成动态可行的运动原语；4)开发一个基于自主牵线木偶的实验测试平台，可以执行开发的运动程序——这个测试平台也将作为学生独特的学习环境，因为它需要理解高度非线性动态系统、同步网络架构、混合系统和最优控制。