Analytical and Experimental Investigations of Feedback Control Designs for Bipedal Walkers and Runners

目的：本研究项目的目的是为一类利用顺应性的双足机器人开发系统的、基于模型的反馈设计程序，以提高在平坦地形上运行和在崎岖地形上行走时的运动效率和鲁棒性。知识价值：据估计，地球上70%的陆地无法通行轮式或履带式车辆。有了腿，机器人可以跨越障碍物或使用稀疏的立足点。双足机器人是复杂的混合系统。实现和稳定这些运动的相关反馈控制算法也必须是混合的。因此，这项研究对混合系统的一般理论作出了非常具体的贡献。该理论容忍模型缺陷的能力将在实验室的一个名为MABEL的两足机器人上进行评估。这台创新机器的成功运行需要同样创新的反馈控制理论，该理论与系统的自然动力学相协调，以实现实现行为的稳定性和鲁棒性。这个项目有可能改变我们设计、制造和控制机器人的能力，这些机器人能够实现比以往任何时候都更敏捷、更像人类的运动行为。更广泛的影响：双足机器人运动的研究可以改善假肢设计和下肢康复机器人。双足机器人的拟人化特性使它们成为解决工程中极具挑战性问题的绝佳工具，而无需假定熟悉高等数学或物理。Grizzle教授会向高中、初中、小学科学营、市民团体、退休人员等社会团体介绍自己的研究成果，并组织实地考察他的双足机器人MABEL的反馈控制作用。

Objective: The objective of this research program is to develop systematic, model-based feedback design procedures for a class of bipedal robots that take advantage of compliance in order to enhance locomotion efficiency and robustness when running on smooth terrain and walking on rough terrain. Intellectual Merit: It is estimated that 70% of the earth's landmass is inaccessible to wheeled or tracked vehicles. With legs, robots can step over obstacles or use sparse footholds. Bipedal robots are complex, hybrid systems. The associated feedback control algorithms that realize and stabilize these motions must be hybrid as well. This research thus contributes very concretely to the general theory of hybrid systems. The ability of the theory to tolerate model imperfections will be evaluated in the laboratory on an bipedal robot named MABEL. The successful operation of this innovative machine requires equally innovative feedback control theory that works in concert with the natural dynamics of the system to achieve stability and robustness of the implemented behaviors.This project has the potential to transform our ability to design, build and control robots that are capable of realizing locomotion behaviors that are more agile and human-like than ever before. Broader Impacts: Research on bipedal robotic locomotion can improve prosthesis design and lower-limb rehabilitation robotics. The anthropomorphic nature of bipedal robots makes them a wonderful vehicle for motivating very challenging problems in engineering, without having to assume familiarity with advanced mathematics or physics. Professor Grizzle gives presentations on his research results to lay groups, including high schools, junior high and grade school science camps, civic organizations, retirees and the like, and organizes field trips to see feedback control in action on his bipedal robot, MABEL.