Collaborative Research: Optimal Gaits and Design for Locomoting Systems

合作研究：运动系统的最佳步态和设计

• 批准号: 0970017
• 负责人: Anette Hosoi
• 金额: $ 29.86万
• 依托单位: Massachusetts Institute of Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2010
• 资助国家: 美国
• 起止时间: 2010-07-15 至 2013-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0970017&HistoricalAwards=false
• 关键词: Collaborative; Research; Optimal; Gaits; Design

Locomotion is everywhere. The capabilities that animals exhibit in converting internal joint motions into displacements inspires us to to ask the question: ?How can we imbue artificial systems with the same ease of motion?? We propose to design, control, and plan motions for a broad class of locomoting systems. These systems maneuver both on land and in the water, and experience dynamics and nonholonomic constraints which may change dynamically. Specifically, the proposed work seeks to: (1) developtools to design and optimize gaits, cyclic internal motions that result in a desired net motion and (2) use these tools to design optimal morphologies for locomoting mechanical systems. To achieve these goals, the proposed work will draw upon fundamentals of differential geometry to develop techniques to efficiently design gaits. Specifically, we will develop tools to analyze and manipulate the reconstruction equation so that it can be used for gait design. With these new efficient tools, we can design optimal gaits for locomoting systems, starting with kinematic systems and moving on to dynamic systems, both with nonholonomic constraints. The proposed work will then use these gait development tools to design optimal robot morphologies.An improved understanding of locomotion is vital for mechanisms that can navigate in challenging terrains, e.g., for applications like urban search and rescue or searching for IEDs in hard to reach locations, such as the nooks and crannies prevalent in the ports of major cities. The proposed work will not provide a system for these tasks, but rather the theory developed in this work will advance robotic mobility and how to quantify it, so that these applications can be achieved and the scientific understanding of locomotion is advanced.

运动无处不在。动物将内部关节运动转化为位移的能力激发我们提出这样的问题：“我们如何才能使人造系统具有同样轻松的运动能力？”我们建议为广泛的运动系统设计、控制和规划运动。这些系统在陆地和水中进行机动，并经历可能动态变化的动态和非完整约束。具体来说，拟议的工作旨在：（1）开发工具来设计和优化步态、循环内部运动，从而产生所需的净运动；（2）使用这些工具来设计运动机械系统的最佳形态。为了实现这些目标，拟议的工作将利用微分几何的基础知识来开发有效设计步态的技术。具体来说，我们将开发工具来分析和操纵重建方程，以便将其用于步态设计。借助这些新的高效工具，我们可以为运动系统设计最佳步态，从运动系统开始，然后转向动态系统，两者都具有非完整约束。然后，拟议的工作将使用这些步态开发工具来设计最佳的机器人形态。 更好地理解运动对于能够在具有挑战性的地形中导航的机制至关重要，例如，对于城市搜索和救援或在难以到达的位置（例如主要城市港口中普遍存在的角落和缝隙）搜索简易爆炸装置等应用。 拟议的工作不会为这些任务提供系统，但这项工作中开发的理论将推进机器人的移动性以及如何量化它，以便实现这些应用并促进对运动的科学理解。