Unified Model and Robotic Implementation of Bio-Inspired Walking and Running

仿生步行和跑步的统一模型和机器人实现

• 批准号: 1100232
• 负责人: Hartmut Geyer
• 金额: $ 49.93万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-09-01 至 2015-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1100232&HistoricalAwards=false
• 关键词: Unified; Model; Robotic; Implementation; Bio

The research objectives of this award are to develop and implement a biomechanically relevant, unified theory of legged dynamics that spans walking and running, and to demonstrate this theory on a new bipedal robot, ATRIAS. To date, a legged machine whose dynamic behavior can approach the performance of human walking and running, including transitions between these two gaits, does not exist. The research will result in principled models of gait and gait transitions with human-like leg dynamics, in generalized models for manipulating cyclic hybrid dynamic systems to achieve different goal behaviors, and in the verification and demonstration of this new scientific understanding with a bipedal robot. The research progresses from analyzing simplified gait models that capture the essential dynamics of human locomotion to integrating these modules in a core dynamics model of human gait. Goal behavior manipulations will be approached using the influence of parameters on the shape of the Poincare map in these cyclic dynamic systems. Experimental verification on the robot will demonstrate and refine the theoretical progress. Deliverables include modeling and simulation software, experimental verification and demonstration on robot hardware, documentation of research results, and engineering student education and research experience. The results of this research will provide the opportunity to create control algorithms for powered legged systems that enable functionally versatile behaviors similar to animals and humans. Examples include prosthetic legs and exoskeletons that provide human users with human-like leg dynamics during walking, running, and the transitions between these gaits. Other examples include legged robots that achieve robust and efficient dynamic turning behaviors. The results will be disseminated to encourage commercial applications and further development. A simulation of the robot implementation of the results will be posted online to engage healthy competition in the development of control algorithms for powered legs. Graduate and undergraduate students will benefit through classroom integration, research involvement, and a "tree of mentoring" where the supported personnel will advise and mentor undergraduate robotics club students.

该奖项的研究目标是开发和实施一种与生物力学相关的、统一的腿部动力学理论，适用于步行和跑步，并在一种新的两足机器人ATRIAS上展示这一理论。到目前为止，还不存在一种有腿的机器，其动态行为可以接近人类走路和跑步的表现，包括这两种步态之间的转换。该研究将产生具有类人腿部动力学的步态和步态转换的原则模型，操纵循环混合动力系统以实现不同目标行为的广义模型，以及用双足机器人验证和演示这一新的科学认识。研究从分析捕捉人体运动基本动力学的简化步态模型到将这些模块集成到人体步态的核心动力学模型中。在这些循环动态系统中，目标行为操纵将利用参数对庞加莱图形状的影响进行探讨。机器人的实验验证将证明和完善理论进展。交付成果包括建模和仿真软件，机器人硬件的实验验证和演示，研究成果的文档记录，以及工程学生的教育和研究经验。这项研究的结果将为为动力腿系统创建控制算法提供机会，使其能够实现类似于动物和人类的多功能行为。例子包括假肢和外骨骼，它们在行走、跑步和这些步态之间的转换过程中为人类用户提供类似人类的腿部动力学。其他的例子还包括有腿的机器人，它们可以实现稳健和高效的动态转弯行为。研究结果将予以传播，以鼓励商业应用和进一步发展。机器人实现结果的模拟将在网上发布，以参与动力腿控制算法开发的健康竞争。研究生和本科生将受益于课堂整合、研究参与和“指导树”，在“指导树”中，支持人员将为机器人俱乐部的本科生提供建议和指导。