NRI: Small: Reflex approximation of optimal control for an energy-efficient bipedal walking platform

这个项目广泛的研究目标是更好地理解两足行走的力学、平衡和能量学。第一个具体目标是设计、制造和测试一个两腿行走的“平台”、一个下半身机器人和它的计算机控制器。人们可以把这个平台想象成一个有腿的赛格威，供其他人使用，把机器人的上半身和手臂和头部放在上面。其目标是达到现有双足机器人的健壮性，但不需要电线或液压管，并将能耗降低约90%。这将通过开发和使用基于反射的控制器来实现，该控制器可以最大限度地减少所需的传感器带宽和机载计算。第二个目标是推进行走平衡和能量学的理论，特别是包括理解鲁棒性，多功能性，能源效率，传感器精度和电机尺寸之间权衡的基本模型。可交付的成果包括一个具有新的“基于反射”控制器的演示机器人，公众可以访问完整的设计和控制信息，基本设计权衡的基本设计公式，学生设计和研究经验，以及鼓舞人心的公众观看演示。如果成功，基于该平台设计的机器人可以取代用于服务机器人的车轮和胎面系统。腿比轮子的优点包括更拟人化的外观，便于人类互动，最终，随着进一步的发展，在崎岖的地形上发挥作用的能力。在这项工作中发展的平衡和能量学的基本理论将增加对人类行走的见解，最终有助于诊断和补救人类残疾，包括辅助和假肢设备的设计。动手开发工作将教育和激励从事该项目的工程学生。这些演示和演示视频将对那些考虑从事工程职业的人起到启发作用。

The broad research goal of this project is to better understand the mechanics, balance, and energetics of bipedal walking. The first specific goal is to design, build and test a two-legged walking 'platform', a waist-down robot, and its computer controller. One can think of this platform as a legged Segway, for use by others putting on robotic upper bodies with arms and heads. The goal is to match the robustness of existent bipedal robots but with no need for electrical cords or hydraulic tubes and with approximately a 90 percent reduction in energy use. This will be achieved by the development and use of a reflex-based controller that minimizes the needed sensor bandwidth and on-board computation. The second goal is to advance the theories of walking balance and energetics including, especially, basic models for understanding the tradeoffs between robustness, versatility, energy efficiency, sensor accuracy and motor size. Deliverable outcomes include a demonstrable robot with a new 'reflex-based' controller, public access to complete design and control information, basic design formulas for the fundamental design trade-offs, student design and research experience, and inspiring demonstrations for public viewing.If successful, robots based on this platform design could replace wheel and tread based systems used for, and proposed for use for, service robotics. The advantages of legs over wheels include a more anthropomorphic look, for human interaction, and, ultimately with further development, the ability to function on rough terrain. The basic theories of balance and energetics developed in this work will add insight concerning human walking, ultimately helping with the diagnosis and remediation of human disabilities, including aiding the design of assistive and prosthetic devices. The hands-on development work will educate and inspire engineering students working on the project. The demonstrations and demonstration videos will serve as an inspiration to those considering engineering careers.