CAREER: Geometric Understanding of Locomotion

职业：运动的几何理解

• 批准号: 1653220
• 负责人: Ross Hatton
• 金额: $ 50万
• 依托单位: Oregon State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-08-01 至 2023-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1653220&HistoricalAwards=false
• 关键词: CAREER; Geometric; Understanding; Locomotion

This Faculty Early Career Development (CAREER) award will create a rigorous mathematical framework for analysis of the ways in which animals propel themselves through the world, with the goal of designing bio-inspired robots that approach and surpass the capabilities of natural systems. For example, understanding how the frictional properties of snake scales helps the animal move through mud, could lead to the design of smart skins and propulsive gaits for snake-like robotic systems in hazardous terrain. In particular, this project will use powerful geometric techniques to study the locomotion of systems that are currently poorly understood, like flexible and continuously deformable soft robots, or of movements in which the system makes intermittent contact with the ground. The outcomes of this research will greatly advance the design of innovative robots, especially soft robots. Broader impacts of this work will include increased penetration of geometric methods into the broader community of non-mathematicians, facilitated by accessible examples from animal locomotion, and by a textbook and accompanying visualization software.When systems have joint limits (i.e., they have limbs instead of wheels or propellers), their ability to locomote depends on how effectively they can change their interaction with the environments at different points in a gait cycle. When these interactions are first-order constraints and they change smoothly with the system's shape, locomotive effectiveness can be characterized via a Lie bracket (a structure closely related to the curl of a vector field). This project seeks to extend this concept to include direction-dependent effects (e.g., friction from backwards-pointing spines or bristles), second order dynamics (e.g., elastic tails or wings in air), infinite-dimensional systems, and hybrid systems (e.g. walkers that can lift their feet from the ground. Specific systems that will be made accessible to geometric analysis by this project include, 1) systems with many shape variables, whose curvature is a high-dimensional structure; 2) hybrid systems, which have "corners" in their dynamic curvature; 3) ratcheting systems, whose reaction forces depend on the sign of the relative motion; 4) elastic systems, whose gait cycles partially emerge from their passive dynamics; and 5) gliding systems, whose gait effectiveness is better characterized by momentum transfer than by displacement induced.

该学院早期职业发展（CAREER）奖将创建一个严格的数学框架，用于分析动物在世界上推动自己的方式，目标是设计接近并超越自然系统能力的生物启发机器人。例如，了解蛇鳞片的摩擦特性如何帮助动物在泥泞中移动，可能会导致在危险地形中为蛇形机器人系统设计智能皮肤和推进步态。特别是，该项目将使用强大的几何技术来研究目前知之甚少的系统的运动，如柔性和连续变形的软机器人，或系统与地面间歇接触的运动。这项研究的成果将大大推动创新机器人，特别是软机器人的设计。这项工作的更广泛的影响将包括几何方法向更广泛的非数学家社区的渗透，通过动物运动的可访问示例以及教科书和附带的可视化软件提供便利。他们有四肢而不是轮子或螺旋桨），他们的移动能力取决于他们在步态周期的不同点如何有效地改变他们与环境的相互作用。当这些相互作用是一阶约束，并且它们随着系统的形状平滑地变化时，机车的有效性可以通过李括号（一种与向量场的旋度密切相关的结构）来表征。本项目试图将这一概念扩展到包括方向依赖效应（例如，来自向后指向的棘或刚毛的摩擦），二阶动力学（例如，在空中的弹性尾巴或翅膀）、无限维系统和混合系统（例如，可以将脚从地面抬起的步行者）。通过本项目可以进行几何分析的具体系统包括：1）具有许多形状变量的系统，其曲率是高维结构; 2）混合系统，其动态曲率中有“角”; 3）棘轮系统，其反作用力取决于相对运动的符号; 4）弹性系统，其步态周期部分来自其被动动力学;和5）滑行系统，其步态效果更好地由动量传递而不是由诱导的位移来表征。

项目成果

Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning

优化单一刚体模型的双足机动以进行强化学习

• DOI: 10.1109/humanoids53995.2022.9999741
• 发表时间: 2022
• 期刊: 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids
• 作者: Batke, Ryan;Yu, Fangzhou;Dao, Jeremy;Hurst, Jonathan;Hatton, Ross L.;Fern, Alan;Green, Kevin
• 通讯作者: Green, Kevin

Geometric Motion Planning for a System on the Cylindrical Surface

圆柱面上系统的几何运动规划

• DOI: 10.1109/iros51168.2021.9635861
• 发表时间: 2021
• 期刊: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Chen, Shuoqi;Fu, Ruijie;Hatton, Ross;Choset, Howie
• 通讯作者: Choset, Howie

The Geometry of Optimal Gaits for Inertia-Dominated Kinematic Systems

惯性主导运动系统的最佳步态几何

• DOI: 10.1109/tro.2022.3164595
• 发表时间: 2022
• 期刊: IEEE Transactions on Robotics
• 影响因子: 7.8
• 作者: Hatton, Ross L.;Brock, Zachary;Chen, Shuoqi;Choset, Howie;Faraji, Hossein;Fu, Ruijie;Justus, Nathan;Ramasamy, Suresh
• 通讯作者: Ramasamy, Suresh

Amoeba-inspired swimming through isoperimetric modulation of body shape

• DOI: 10.1109/iros47612.2022.9982120
• 发表时间: 2022-10
• 期刊: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• 作者: Curtis Sparks;Nathan Justus;R. Hatton;N. Gravish

An Euler–Bernoulli beam model for soft robot arms bent through self-stress and external loads

• DOI: 10.1016/j.ijsolstr.2020.09.015
• 发表时间: 2020-09
• 期刊: International Journal of Solids and Structures
• 影响因子: 3.6
• 作者: G. Olson;R. Hatton;J. Adams;Y. Mengüç