Flexible and Robust Walking in Uneven Terrain

在崎岖不平的地形中灵活而稳健地行走

• 批准号: 223056368
• 负责人: Professor Dr. Daniel J. Rixen
• 金额: --
• 依托单位: Lehrstuhl für Angewandte Mechanik
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2012
• 资助国家: 德国
• 起止时间: 2011-12-31 至 2016-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/223056368?language=en
• 关键词: Flexible; Robust; Walking; Uneven; Terrain

There have been remarkable advances in the technology of biped robots, enabling the most advanced machines to walk and run at relatively high speeds. Still, current bipeds are not capable of handling the large disturbances that would occur during the practical use of such machines and still have severe limitations in the generation of walking patterns in complex environments. Currently, these limitations appear to be more problematic than the fact that robots can not walk or run as fast in ideal laboratory conditions as humans can, since a central argument for legged locomotion is the supposed superiority to wheeled or tracked vehicles in rough terrain. Therefore, the goal of this project is to research methods for improving the robustness and flexibility of biped robots. We view this research as a first step towards using biped robots outside tightly controlled laboratory conditions and proving the inherent superiority of legged locomotion in rough terrain. The project will include theoretical studies, numerical simulations and walking experiments using the biped robot Lola developed during the DFG project „Natur und Technik intelligenten Laufens“.The term „flexiblility“ in the title of the project signifies the capacity of the control system to actually use a large portion of the robot‘s physical capabilities. This is important, e.g., when stepping over or onto complex, previously unknown obstacles or when walking with very large steps. By term ‘robustness‘ we mean the ability of the robot to recover from very large disturbances, due to external forces or errors in the environment model. This can only be achieved by large modifications of the originally planned motion of the system. This proposal is based on two hypotheses: 1. Real-time planning of stable locomotion with singularity and collision avoidance is simplified and sped up by using a time-varying definition of task-space and a predictive inverse kinematics algorithm.2. Robustness against disturbances is increased by reactive re-planning of walking patterns and adaptive robot and environment models. The methods developed during this project are easily transferable to similar biped robots and, to a large extent, more conventional robot manipulators. Specifically, we are planning to use the methods developed in this project for motion generation of agricultural robots in cluttered, unknown environments at a later time.

两足机器人的技术已经取得了显著的进步，使最先进的机器能够以相对较高的速度行走和奔跑。尽管如此，目前的两足动物还不能处理在实际使用这类机器时会出现的大干扰，并且在复杂环境中生成行走模式方面仍然存在严重限制。目前，这些限制似乎比机器人不能在理想的实验室条件下行走或跑得像人类一样快的事实更成问题，因为腿部行走的一个核心论点是，在崎岖的地形上，轮式或履带式车辆被认为具有优势。因此，本项目的目标是研究提高双足机器人健壮性和灵活性的方法。我们认为这项研究是在严格控制的实验室条件下使用两足机器人的第一步，并证明了在崎岖地形中行走的固有优势。该项目将包括理论研究、数值模拟和行走实验，使用DFG项目“Natur and Technik Intelligence enten Laufens”期间开发的两足机器人Lola。项目标题中的“灵活性”一词表示控制系统实际使用机器人大部分物理能力的能力。这一点很重要，例如，当跨过或踏上复杂的、以前未知的障碍物时，或者当用非常大的步子行走时。我们所说的“健壮性”指的是机器人从由于外力或环境模型中的错误而引起的非常大的干扰中恢复的能力。这只能通过对系统最初计划的运动进行大的修改来实现。该方案基于两个假设：1.利用时变的任务空间定义和预测逆运动学算法，简化和加快了具有奇异性和避碰的稳定运动的实时规划。通过对行走模式和自适应机器人和环境模型的反应性重新规划，增强了对干扰的鲁棒性。在这个项目中开发的方法可以很容易地移植到类似的两足机器人，在很大程度上，也可以移植到更传统的机器人操作器上。具体地说，我们计划在以后使用在这个项目中开发的方法在杂乱、未知的环境中生成农业机器人的运动。

项目成果

Fast object approximation for real-time 3D obstacle avoidance with biped robots

• DOI: 10.1109/aim.2016.7576740
• 发表时间: 2016-07
• 期刊: 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
• 作者: Daniel Wahrmann;Arne-Christoph Hildebrandt;Robert Wittmann;Felix Sygulla;D. Rixen;Thomas Buschmann

Model-based predictive bipedal walking stabilization

基于模型的预测双足行走稳定性

• DOI: 10.1109/humanoids.2016.7803353
• 发表时间: 2016
• 期刊: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
• 作者: Wittmann;Robert;Hildebrandt;Arne-Christoph;Wahrmann;Daniel;Sygulla;Daniel;Buschmann;Thomas
• 通讯作者: Thomas

Real-time predictive kinematic evaluation and optimization for biped robots

双足机器人的实时预测运动学评估和优化

• DOI: 10.1109/iros.2016.7759852
• 发表时间: 2016
• 期刊: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• 作者: Hildebrandt;Arne-Christoph;Demmeler;Manuel;Wittmann;Robert;Wahrmann;Daniel;Sygulla;Daniel;Buschmann;Thomas
• 通讯作者: Thomas