CAREER: Closing the Loop on Walking: From Hybrid Systems to Bipedal Robots to Prosthetic Devices and Back

职业生涯：关闭步行循环：从混合系统到双足机器人，再到假肢装置，然后再返回

• 批准号: 1600803
• 负责人: Aaron Ames
• 金额: $ 13.51万
• 依托单位: Georgia Tech Research Corporation
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-07-01 至 2016-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1600803&HistoricalAwards=false
• 关键词: CAREER; Closing; Loop; Walking; Hybrid

This Faculty Early Career Development (CAREER) grant provides funding for contributions to the foundations of hybrid systems through the anthropomorphically motivated study of dynamic walking of bipedal robots, with a special focus on behavior unique to hybrid systems and applications to prosthesis design. Bipedal walking is a quintessential example of complex dynamically stable behavior. Hybrid systems---systems with both continuous and discrete behavior---provide a modeling paradigm in which to capture the behavior of highly complex systems, resulting in new phenomena not found in continuous and discrete systems. Bipedal walking robots are naturally modeled as hybrid systems, and it is the confluence of these two areas---bipedal walking and hybrid systems---that affords a unique opportunity to further the understanding of each of these areas. This project uses studies of human walking to obtain accurate and anthropomorphic hybrid models of bipedal robots, designs control laws that yield human-like walking through the use of geometric reduction, formally studies the stability and robustness of the resulting hybrid systems, and uses this cumulative understanding of bipedal walking to design prosthesis devices. The applications of the ideas underlying this project are far reaching, providing new research directions in hybrid systems and a new understanding of the fundamental mechanisms underlying walking. Applying this understanding to the design of prosthesis devices could have a dramatic impact on the quality of life of the millions of lower body extremity amputees. Furthermore, the anthropomorphic nature of bipedal locomotion has wide appeal to people of all ages and demographics, greatly facilitating outreach and education.

学院早期职业发展(Career)补助金通过拟人化的两足机器人动态行走研究，为混合系统的基础提供资金，特别关注混合系统特有的行为和假肢设计应用。两足行走是复杂的动态稳定行为的典型例子。混合系统-同时具有连续和离散行为的系统-提供了一种建模范例，在其中捕捉高度复杂系统的行为，导致在连续和离散系统中找不到的新现象。两足步行机器人自然被建模为混合系统，正是这两个领域-两足步行和混合系统--的融合为进一步了解这两个领域的每个领域提供了独特的机会。该项目利用对人类行走的研究来获得准确的和拟人化的两足机器人的混合模型，通过使用几何归约来设计产生类似人类行走的控制律，正式地研究由此产生的混合系统的稳定性和鲁棒性，并利用对两足行走的累积了解来设计假肢装置。这个项目背后的想法的应用是深远的，为混合系统提供了新的研究方向，并对步行的基本机制有了新的理解。将这一认识应用到假肢装置的设计中，可能会对数百万下肢截肢者的生活质量产生巨大影响。此外，两足动物运动的拟人化特性对所有年龄和人口结构的人都有广泛的吸引力，极大地促进了推广和教育。