Quadrupedal Robot Running: Control Synthesis Harnessing Compliance

四足机器人运行：控制综合利用合规性

• 批准号: 1130372
• 负责人: Ioannis Poulakakis
• 金额: $ 26.55万
• 依托单位: University of Delaware
• 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: 2011-10-01 至 2015-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1130372&HistoricalAwards=false
• 关键词: Quadrupedal; Robot; Running; Control; Synthesis

The objective of this award is to offer a control synthesis framework for feedback laws that harness compliance to realize agile locomotion in a class of robotic quadrupeds. To achieve this goal, a modeling and control hierarchy that transforms nature-inspired reductive models of locomotion behavior into concrete control commands to the robots? actuators is proposed. If successful, this research effort will impact the study of many other engineered and biological systems, which, like legged robots, accomplish their purpose through forceful, cyclic interactions with their environment. Deliverables include models of locomotion behavior; analytical methods to rigorously characterize cyclic motion generation and stability of quadrupedal running gaits; constructive control techniques and systematic control law design tools that minimize laborious, trial-and-error experimentation; verification procedures to test the controllers in a variety of running gaits using widely accepted performance metrics; and engineering student education and engineering research experiences for K-12 teachers.This work directly addresses a principal barrier to innovation that faces the legged robotics community today: systematic controller design tools that enable legged machines to perform real-world tasks reliably and efficiently. This way, this research effort promotes the advancement of a host of real-life applications, including industrial, agricultural and military applications, which require highly mobile and versatile robot platforms. In the long run, this work will lead to increased public acceptance and more pervasive use of robots. In addition, graduate and undergraduate engineering students will benefit through active participation in the research process. An integral part of this effort is to immerse K-12 teachers in engineering research experiences, with the purpose of translating those experiences into classroom activities to enhance their standards-based curriculum.

该奖项的目的是为反馈定律提供一个控制综合框架，利用合规性来实现四足机器人的敏捷运动。为了实现这一目标，是否需要建立一个建模和控制层次结构，将受自然启发的运动行为还原模型转化为机器人的具体控制命令？提出了执行器。如果成功，这项研究工作将影响许多其他工程和生物系统的研究，这些系统就像有腿机器人一样，通过与环境的强有力的循环相互作用来实现其目的。可交付成果包括运动行为模型；严格表征四足行走步态的循环运动产生和稳定性的分析方法；建设性控制技术和系统控制律设计工具，可最大限度地减少费力的试错实验；使用广泛接受的性能指标以各种运行步态测试控制器的验证程序；这项工作直接解决了当今腿式机器人社区面临的创新主要障碍：系统控制器设计工具使腿式机器能够可靠、高效地执行现实世界的任务。通过这种方式，这项研究工作促进了许多现实生活应用的进步，包括工业、农业和军事应用，这些应用需要高度移动和多功能的机器人平台。从长远来看，这项工作将提高公众对机器人的接受度和更普遍的使用。此外，工程专业的研究生和本科生将通过积极参与研究过程而受益。这项工作的一个组成部分是让 K-12 教师沉浸在工程研究经验中，目的是将这些经验转化为课堂活动，以增强他们基于标准的课程。