NRI: Decentralized Feedback Control Design for Cooperative Robotic Walking with Application to Powered Prosthetic Legs
NRI:协作机器人行走的分散反馈控制设计及其在动力假肢中的应用
基本信息
- 批准号:1637704
- 负责人:
- 金额:$ 61.22万
- 依托单位:
- 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 2019-01-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
This project addresses the creation of innovative decentralized controllers for legged locomotion. Decentralized controllers require only local information to accomplish their function. In the case of legged locomotion, decentralization is desirable for several reasons. For prosthetics, where the purpose is to replace a lost natural limb, it is impractical to wire the user with a profusion of sensors. Therefore the prosthetic device must primarily rely on its own built-in measurements. Another advantage of decentralization is the management of complexity. As robots become more sophisticated, the number of variables that must be monitored for a complete description of the system status becomes so large that top-down controllers are costly or infeasible to implement. The challenge of decentralized control is made substantially more difficult because walking and running are hybrid dynamic behaviors, that is, the dynamics follow a completely different set of rules when, for example, a foot is planted on the ground, compared to when it is swinging in the air. This project will address the substantial analytical difficulties caused by these features. This project will advance the state of the art in advanced lower limb prosthetics, as well as in locomotion for the next generation of legged robots. This project will investigate the systematic design of decentralized feedback controllers that coordinate low-dimensional subsystems to achieve robust legged locomotion, overcoming the curse of dimensionality in legged robots and enabling cooperative human-machine walking with powered prosthetic legs. The project draws upon robotics, optimization, and feedback control theory to advance two key innovations: (1) creating algorithms to systematically design robust stabilizing decentralized controllers for cooperative subsystems; and (2) transferring the decentralized control framework into practice with an experimental quadruped and a powered prosthetic leg. The problem of creating decentralized nonlinear controllers for robust dynamic walking with interconnected subsystems, coordinated only by a common gait cycle phasing variable, will be formulated in the context linear and bilinear matrix inequalities. The theoretical significance of these algorithms include: (1) they are powerful tools for the design of general nonlinear decentralized feedback control schemes; (2) they explicitly account for underactuation to account for walking motions that are not flat-footed; (3) they provide cooperation between subsystems of complex walking models with high dimensionality and strong interactions; and (4) they provably stabilize full-dimensional hybrid dynamical models of walking robots rather than simplified models. This decentralized control framework is technologically significant because it can be readily transferred into practical high-DOF legged robots, as well as wearable robots for physical rehabilitation.
该项目致力于为腿部运动创建创新的分散控制器。分散控制器只需要本地信息来完成其功能。在腿运动的情况下,由于几个原因,分散化是可取的。对于假肢来说,其目的是替换失去的自然肢体,用大量的传感器连接用户是不切实际的。因此,假体装置必须主要依赖于其自身的内置测量。去中心化的另一个好处是对复杂性的管理。随着机器人变得越来越复杂,为了完整描述系统状态而必须监控的变量数量变得如此之大,以至于自上而下的控制器成本高昂或不可行。分散控制的挑战变得更加困难,因为行走和跑步是混合动力学行为,也就是说,与在空中摆动时相比,当例如脚放在地面上时,动力学遵循完全不同的一组规则。本项目将解决这些特征造成的大量分析困难。该项目将推进先进下肢假肢的最新技术,以及下一代腿式机器人的运动。该项目将研究分散反馈控制器的系统设计,该控制器协调低维子系统以实现鲁棒的腿部运动,克服腿部机器人的维数灾难,并使具有动力假肢的人机合作行走成为可能。该项目借鉴了机器人,优化和反馈控制理论,以推进两个关键的创新:(1)创建算法,系统地设计鲁棒稳定分散控制器的合作子系统;(2)转移到实践中的分散控制框架与实验四足动物和动力假肢。建立分散的非线性控制器的鲁棒动态行走与互联子系统,协调只有一个共同的步态周期相位变量的问题,将制定在线性和双线性矩阵不等式的背景下。这些算法的理论意义包括:(1)它们是设计一般非线性分散反馈控制方案的有力工具;(2)它们明确地解释了欠驱动以解释非平足的步行运动;(3)它们提供了高维和强交互的复杂步行模型的子系统之间的协作;(4)它们可证明稳定步行机器人的全维混合动力学模型而不是简化模型。这种分散控制框架具有重要的技术意义,因为它可以很容易地转移到实际的高自由度腿式机器人,以及用于身体康复的可穿戴机器人。
项目成果
期刊论文数量(14)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Decentralized Event-Based Controllers for Robust Stabilization of Hybrid Periodic Orbits: Application to Underactuated 3-D Bipedal Walking
用于混合周期轨道鲁棒稳定性的分散式基于事件的控制器:在欠驱动 3-D 双足行走中的应用
- DOI:10.1109/tac.2018.2863184
- 发表时间:2019
- 期刊:
- 影响因子:6.8
- 作者:Hamed, Kaveh Akbari;Gregg IV, Robert D.
- 通讯作者:Gregg IV, Robert D.
Dynamically stable 3D quadruped walking with multi-domain hybrid system models and virtual constraint controllers
具有多域混合系统模型和虚拟约束控制器的动态稳定 3D 四足行走
- DOI:
- 发表时间:2019
- 期刊:
- 影响因子:0
- 作者:Akbari Hamed, Kaveh;Ma, Wen-Loong;Ames, Aaron D
- 通讯作者:Ames, Aaron D
Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion
用于多接触 3D 双足运动的指数稳定控制器
- DOI:
- 发表时间:2018
- 期刊:
- 影响因子:0
- 作者:Akbari Hamed, Kaveh;Gregg, Robert D;Ames, Aaron D
- 通讯作者:Ames, Aaron D
Piecewise and unified phase variables in the control of a powered prosthetic leg.
- DOI:10.1109/icorr.2017.8009448
- 发表时间:2017-07
- 期刊:
- 影响因子:0
- 作者:Villarreal DJ;Quintero D;Gregg RD
- 通讯作者:Gregg RD
Hybrid Zero Dynamics of Bipedal Robots Under Nonholonomic Virtual Constraints
- DOI:10.1109/lcsys.2018.2888571
- 发表时间:2019-04-01
- 期刊:
- 影响因子:3
- 作者:Horn, Jonathan C.;Mohammadi, Alireza;Gregg, Robert D.
- 通讯作者:Gregg, Robert D.
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Kaveh Akbari Hamed其他文献
Exponentially Stabilizing and Time-Varying Virtual Constraint Controllers for Dynamic Quadrupedal Bounding*
用于动态四足边界的指数稳定和时变虚拟约束控制器*
- DOI:
10.1109/iros45743.2020.9341772 - 发表时间:
2020 - 期刊:
- 影响因子:0
- 作者:
Joseph B. Martin V;Vinay R. Kamidi;Abhishek Pandala;Randall T. Fawcett;Kaveh Akbari Hamed - 通讯作者:
Kaveh Akbari Hamed
Kaveh Akbari Hamed的其他文献
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{{ truncateString('Kaveh Akbari Hamed', 18)}}的其他基金
NRI: INT: Collaborative Research: A Robotic Platform for Body-Scale Human Physical Interaction in Embodied Virtual Reality
NRI:INT:协作研究:实体虚拟现实中人体规模人体物理交互的机器人平台
- 批准号:
2024772 - 财政年份:2020
- 资助金额:
$ 61.22万 - 项目类别:
Standard Grant
Collaborative Research: Intelligent and Agile Robotic Legged Locomotion in Complex Environments: From Planning to Safety and Robust Control
协作研究:复杂环境下智能敏捷的机器人腿式运动:从规划到安全和鲁棒控制
- 批准号:
1923216 - 财政年份:2019
- 资助金额:
$ 61.22万 - 项目类别:
Standard Grant
NRI: FND: COLLAB: Hierarchical Safe, and Distributed Feedback Control of Multiagent Legged Robots for Cooperative Locomotion and Manipulation
NRI:FND:COLLAB:用于协作运动和操纵的多智能腿机器人的分层安全分布式反馈控制
- 批准号:
1924617 - 财政年份:2019
- 资助金额:
$ 61.22万 - 项目类别:
Standard Grant
NRI: Decentralized Feedback Control Design for Cooperative Robotic Walking with Application to Powered Prosthetic Legs
NRI:协作机器人行走的分散反馈控制设计及其在动力假肢中的应用
- 批准号:
1854898 - 财政年份:2018
- 资助金额:
$ 61.22万 - 项目类别:
Standard Grant
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