Feedback Control of Highly Dynamic Spatial Locomotion in 3D Bipedal Robots

3D 双足机器人高动态空间运动的反馈控制

• 批准号: 1231171
• 负责人: Jessy Grizzle
• 金额: $ 40万
• 依托单位: Regents of the University of Michigan - Ann Arbor
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2012
• 资助国家: 美国
• 起止时间: 2012-09-01 至 2016-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1231171&HistoricalAwards=false
• 关键词: Feedback; Control; Highly; Dynamic; Spatial

This project contributes to the foundations of feedback control through the study of highly dynamic motions for 3D bipedal robots. Intellectual Merit: It is estimated that 70% of the earth's landmass is inaccessible to wheeled or tracked vehicles. This has stimulated interest in the design of robots that use legs as a means of locomotion. With legs, robots can step over obstacles or use sparse footholds (as in ladders). The research conducted under this NSF grant is enhancing the ability to design robots that can function in a wide range of natural environments. In particular, this work focuses on developing feedback control algorithms that will allow bipedal robots to walk, run, and turn rapidly, without stumbling and falling, thereby bringing closer the day when such robots can assist humans, and eventually stand in for them, in situations of extreme danger, such as when responding to a major industrial accident or a fire in a home.Broader Impacts: The research being conducted in this grant is enhancing the interest in STEM subjects, by giving tours of the 3D robotics laboratory to hundreds of students, from grade school through high school. More broadly, the work is being highlighted in the media, informing the public about the excitement of cutting-edge engineering research and how it benefits society.Dissemination: The research conducted in this grant is being published in leading peer-reviewed journals and conferences. The work is also available on public web sites and a YouTube channel, Dynamic Leg Locomotion. Videos from this channel have been featured worldwide on numerous television programs.

该项目通过研究 3D 双足机器人的高动态运动，为反馈控制奠定了基础。智力优势：据估计，地球上 70% 的陆地是轮式或履带式车辆无法到达的。这激发了人们对使用腿作为运动方式的机器人设计的兴趣。有了腿，机器人就可以跨过障碍物或使用稀疏的立足点（如梯子）。在国家科学基金会资助下进行的研究正在增强设计可在各种自然环境中运行的机器人的能力。这项工作特别侧重于开发反馈控制算法，使双足机器人能够快速行走、奔跑和转弯，而不会绊倒和跌倒，从而使此类机器人能够帮助人类并最终在极端危险的情况下代替人类的日子越来越近，例如在应对重大工业事故或家庭火灾时。 更广泛的影响：这项资助中正在进行的研究正在增强人们对 STEM 学科的兴趣， 向数百名从小学到高中的学生参观 3D 机器人实验室。更广泛地说，这项工作正在媒体上得到重点关注，让公众了解尖端工程研究的兴奋点以及它如何造福社会。传播：这笔资助中进行的研究正在领先的同行评审期刊和会议上发表。该作品还可在公共网站和 YouTube 频道 Dynamic Leg Locomotion 上观看。该频道的视频已在全球众多电视节目中播出。