CRII: RI: Energy Effective and Versatile Bipedal Robots Using Event-Based Switching Between Parameterized Steady-State Controllers

CRII：RI：节能且多功能的双足机器人，在参数化稳态控制器之间使用基于事件的切换

• 批准号: 1566463
• 负责人: Pranav Bhounsule
• 金额: $ 15.9万
• 依托单位: University of Texas at San Antonio
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-09-01 至 2020-02-29
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1566463&HistoricalAwards=false
• 关键词: CRII; RI; Energy; Effective; Versatile

Bipedal robots, unlike humans, are either energy-effective or versatile but not both at the same time. For example, the Honda ASIMO can walk over stairs and navigate around obstacles but needs to be recharged about every hour or so. On the other hand, robots inspired by passive dynamics use trivial amounts of energy to move but are limited to a single speed and step length. This project develops a theory that fills this knowledge gap by enabling bipedal robots to make informed decisions about what strategy to follow given a particular circumstance. For example, on rough terrains, a robot may have to decide to expend more energy in order to maximize stability while, in cases where the terrain is flat and regular, the same robot can decide to use its most energy-efficient gait while paying little heed to stability.There is a need to develop a theory that would simultaneously enable improved performance metrics for the energy-efficiency and versatility of bipedal robots. The instability of bipedal robots, due to their inverted pendulum like nature, makes this challenge even greater; hence, metrics for balance and stability also need to be met simultaneously. The gap in knowledge is that, it is unclear how to enable bipedal robots to satisfy all these performance metrics, some of which can actually be conflicting (e.g., energy-efficiency trade-offs with stability).

与人类不同，双足机器人要么节能，要么多才多艺，但不能同时兼顾。例如，本田阿西莫可以走楼梯和导航周围的障碍，但需要充电约每小时左右。另一方面，受被动动力学启发的机器人使用微不足道的能量来移动，但限于单一的速度和步长。该项目开发了一种理论，通过使双足机器人能够在特定情况下做出明智的决定来填补这一知识空白。例如，在崎岖的地形上，机器人可能必须决定消耗更多的能量以最大限度地提高稳定性，而在平坦和规则的地形上，同一机器人可以决定使用最节能的步态，而不太注意稳定性。有必要开发一种理论，可以同时提高双足机器人的能源效率和多功能性的性能指标。双足机器人的不稳定性，由于其倒立摆的性质，使这一挑战更大;因此，平衡和稳定性的指标也需要同时满足。知识上的差距是，不清楚如何使双足机器人满足所有这些性能指标，其中一些实际上可能是冲突的（例如，能源效率与稳定性的权衡）。