Control of Dynamically Coupled Agile Legged Robots and Bioinspired Robotic Tails

动态耦合敏捷腿式机器人和仿生机器人尾部的控制

• 批准号: 1906727
• 负责人: Pinhas Ben-Tzvi
• 金额: $ 39.6万
• 依托单位: Virginia Polytechnic Institute and State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-06-01 至 2023-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1906727&HistoricalAwards=false
• 关键词: Control; Dynamically; Coupled; Agile; Legged

The objective of this project is to understand the principles of dynamics and control that intrinsically couple legged robots with bioinspired robotic tails to achieve agile animal-like locomotion. This research hypothesizes that spatial robotic tails can augment the performance of legged robots by enhancing their stability and maneuverability. The research will establish a firm analytical foundation that enables: (a) systematic investigation and analysis of the effects of robotic tails on the stability of highly-agile maneuvers of legged robots, and (b) development of control algorithms for agile legged locomotion with bioinspired robotic tails. The theoretical innovations will be reduced to practice by incorporating spatial robotic tails on legged robot testbeds. This research will enable to build legged robots with agility and stability that are seen in animals to effectively and rapidly navigate in unstructured, hazardous and complex environments which will lead to faster search and rescue or exploration of dangerous environments. Additional deliverables of this project include dissemination of research results, engineering education and research experiences for students and science teachers, new engineering curriculums, and outreach and diversity initiatives for students, teachers, and under-represented minorities.The overarching goal of this project is to establish a strong foundation for a paradigm shift from traditional control algorithms that only address legged locomotion without bioinspired robotic tails to resilient control algorithms that intrinsically couple legged robots with bioinspired robotic tails to achieve agile and dexterous animal-like locomotion. The research draws upon robotics, controls, and hybrid systems theory to fuse observations from nature in the transformation of state-of-the-art methods for the control of agile legged locomotion. The research will create innovations in analysis by studying the effect of tails on the stability of legged locomotion and innovations in control by creating a systematic framework to design robust control algorithms that coordinate the robotic tail motion with that of the quadruped by enhancing its dexterity, agility, and maneuverability. The research has broad societal impacts by enabling the next generation of agile autonomous legged robots to efficiently overcome obstacles in natural environments and to effectively assist, or stand in for, humans in dangerous situations such as in disaster areas. The integrated education plan involves creation of new courses as well as STEM-based outreach initiative for K-12 students, teachers, and under-represented minorities.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

这个项目的目的是了解动力学和控制的原则，本质上耦合腿机器人与仿生机器人尾巴，以实现敏捷的动物般的运动。本研究假设，空间机器人尾巴可以提高腿式机器人的性能，通过提高他们的稳定性和机动性。这项研究将建立一个坚实的分析基础，使：（a）系统的调查和分析的影响，机器人尾巴的腿式机器人的高度敏捷机动的稳定性，和（B）开发控制算法的敏捷腿式运动与仿生机器人尾巴。通过在腿式机器人试验台上采用空间机器人尾部，理论创新将被减少到实践中。这项研究将能够构建具有动物敏捷性和稳定性的腿式机器人，以便在非结构化，危险和复杂的环境中有效，快速地导航，从而更快地搜索和救援或探索危险环境。该项目的其他成果包括传播研究成果，为学生和科学教师提供工程教育和研究经验，新的工程课程，以及为学生，教师，而在以下情况下─代表少数族裔。该项目的总体目标是为传统控制算法的范式转变奠定坚实的基础，传统控制算法仅解决腿部运动，而不涉及生物启发机器人尾巴到弹性控制算法，本质上耦合腿机器人与仿生机器人尾巴，以实现敏捷和灵巧的动物般的运动。该研究利用机器人技术，控制和混合系统理论，将自然界的观察融合在最先进的方法中，用于控制敏捷的腿部运动。该研究将通过研究尾巴对腿部运动稳定性的影响来创造分析创新，并通过创建一个系统框架来设计鲁棒控制算法来创新控制创新，该算法通过增强其灵巧性，敏捷性和可操作性来协调机器人尾部运动与四足动物的运动。这项研究具有广泛的社会影响，使下一代敏捷的自主腿式机器人能够有效地克服自然环境中的障碍，并在灾难地区等危险情况下有效地帮助或代替人类。综合教育计划包括为K-12学生、教师和代表性不足的少数民族创建新课程以及基于STEM的外展计划。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

Systematic Development of a Novel, Dynamic, Reduced Complexity Quadruped Robot Platform for Robotic Tail Research

用于机器人尾部研究的新型、动态、降低复杂性的四足机器人平台的系统开发

• DOI: 10.1109/icra46639.2022.9811871
• 发表时间: 2022
• 期刊: 2022 International Conference on Robotics and Automation (ICRA
• 作者: Liu, Yujiong;Ben-Tzvi, Pinhas
• 通讯作者: Ben-Tzvi, Pinhas

Dynamic modeling, analysis, and comparative study of a quadruped with bio-inspired robotic tails

仿生机器人尾部四足动物的动态建模、分析与比较研究

• DOI: 10.1007/s11044-020-09764-8
• 发表时间: 2021
• 期刊: Multibody System Dynamics
• 影响因子: 3.4
• 作者: Liu, Yujiong;Ben-Tzvi, Pinhas
• 通讯作者: Ben-Tzvi, Pinhas

A Two-DOF Bipedal Robot Utilizing the Reuleaux Triangle Drive Mechanism

采用鲁洛三角驱动机构的二自由度双足机器人

• DOI: 10.1109/iros40897.2019.8967952
• 发表时间: 2019
• 期刊: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Yang, Jiteng;Saab, Wael;Ben-Tzvi, Pinhas
• 通讯作者: Ben-Tzvi, Pinhas

A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission

• DOI: 10.1115/detc2020-22173
• 发表时间: 2020-08
• 期刊: Journal of Mechanisms and Robotics
• 作者: Yujiong Liu;Pinhas Ben-Tzvi

A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism

• DOI: 10.1115/1.4044067
• 发表时间: 2019-10-01
• 期刊: JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
• 影响因子: 2.6
• 作者: Liu, Yujiong;Wang, Jiamin;Ben-Tzvi, Pinhas
• 通讯作者: Ben-Tzvi, Pinhas