Geometric Methods in the Control of Bipedal Walking Robots

双足行走机器人控制中的几何方法

• 批准号: 0856368
• 负责人: Mark Spong
• 金额: $ 15万
• 依托单位: University of Texas at Dallas
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-06-01 至 2012-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0856368&HistoricalAwards=false
• 关键词: Geometric; Methods; Control; Bipedal; Walking

The object of this project is to develop control algorithms for bipedal walking robots using concepts of geometric reduction. Geometric reduction takes advantage of certain symmetry properties in the dynamic equations of bipedal robots and facilitates the computation of lower dimensional models for analysis and control design. The goal is to enable control concepts developed for two-dimensional, or planar, bipeds to be applied to fully three-dimensional bipeds. In this way, the complexity of the control problem for three-dimensional walking robots is greatly reduced. The project will also investigate the effects of asymmetries in leg parameters, such as leg length and leg mass, on the existence and properties of passive gaits. Preliminary investigations indicate that asymmetry in leg parameters, such as leg mass, results in qualitative changes in gait, such as period-doubling bifurcations and chaotic motion. Deliverables from this research include new control algorithms, new simulation models and graphical simulation tools for visualization of simulation data.The practical application of this research is in the design of walking robots that have improved performance capabilities over existing machines. Current walking robots have limited range due to poor energy utilization and are limited in their ability to navigate uneven terrain. More practical and more efficient walking machines will result once the full power of available theoretical tools is brought to bear on the analysis and design questions in this project. The tools developed in this project will also contribute to a better understanding of human locomotion, which will result in applications in biomechanics and biomedicine, such as the design of improved prosthetic devices, the development of falls prevention programs for the elderly, and rehabilitation techniques. The study of bipeds with parameter asymmetry is motivated by the desire to understand the effect of asymmetry of human gait on walking stability, performance, and gait disorders. Our research results will also be used to create demonstrations and presentations for middle school and high school students to be used as recruiting tools. Our past experience has shown that robotics is an excellent vehicle to attract and retain students in engineering.

本项目的目的是利用几何归约的概念开发两足步行机器人的控制算法。几何约化利用了双足机器人动力学方程中的某些对称性，便于计算用于分析和控制设计的低维模型。其目标是将为二维或平面两足动物开发的控制概念应用于完全三维的两足动物。这样就大大降低了三维行走机器人控制问题的复杂性。该项目还将调查腿部参数的不对称性，如腿部长度和腿部质量，对被动步态的存在和特性的影响。初步研究表明，腿部参数的不对称，如腿部质量，会导致步态的质变，如倍周期分叉和混沌运动。这项研究的成果包括新的控制算法、新的仿真模型和可视化仿真数据的图形仿真工具。该研究的实际应用是设计性能优于现有机器的步行机器人。目前的步行机器人由于能源利用率低，其续航能力有限，在崎岖地形中的导航能力也有限。一旦将现有理论工具的全部力量用于本项目中的分析和设计问题，将产生更实用和更高效的步行机器。该项目开发的工具还将有助于更好地了解人类运动，这将导致在生物力学和生物医学中的应用，如改进的假肢设备的设计，为老年人开发预防跌倒的程序，以及康复技术。对参数不对称两足动物的研究是为了了解人类步态不对称对步行稳定性、性能和步态障碍的影响。我们的研究成果也将被用来为初中生和高中生创建演示和演示，作为招聘工具。我们过去的经验表明，机器人是吸引和留住工程专业学生的绝佳工具。