Global-Position Tracking Control for Highly Versatile Bipedal Robotic Walking

用于高度多功能双足机器人行走的全球位置跟踪控制

• 批准号: 1934280
• 负责人: Yan Gu
• 金额: $ 38.38万
• 依托单位: University of Massachusetts Lowell
• 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: 2019-10-01 至 2024-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1934280&HistoricalAwards=false
• 关键词: Global; Position; Tracking; Control; Highly

This project will contribute to the advancement of the national health, security and welfare, by improving capabilities, safety and reliability of bipedal walking robots. Bipedal robots are emerging as a critical technology for a broad range of important applications, such as search and rescue, emergency response, home assistance and health care. This project will address important technological challenges of controlling and tracking robot movements in various surroundings. The resulting highly versatile walking robot will be able to avoid obstacles, such as avoid pedestrians in human-populated environments and falling debris on disaster sites. This project will integrate the research with education and outreach activities for engaging students from diverse groups to participate in robotics and control research.The goal of this project is to advance the knowledge in the control of hybrid systems for achieving highly versatile bipedal robotic walking through reliable global-position tracking control. The research draws upon feedback control theory and hybrid systems to create a systematic method of tracking controller design for general hybrid systems with state-triggered jumps that include bipedal walking robots. To reach the research goal, the following objectives will be pursued: (1) to formulate a new method of reference trajectory modification for solving the intermittent tracking-error divergence issue underlying the trajectory tracking problem of hybrid systems with state-triggered jumps; (2) to extend Lyapunov theory to general hybrid systems with state-trigged jumps for creating a large class of controllers that can provably solve the tracking problem; and (3) to synthesize a control framework that exploits the researched controller design to achieve high versatility simultaneously with provable stability, agility, and energy efficiency for bipedal robotic walking. This project will lay a foundation for the creation of next-generation legged robot systems capable of safe and reliable real-world operations.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.

该项目将通过提高双足步行机器人的能力、安全性和可靠性，为促进国民健康、安全和福利做出贡献。双足机器人正在成为一种关键技术，用于广泛的重要应用，如搜索和救援，紧急响应，家庭援助和医疗保健。该项目将解决在各种环境中控制和跟踪机器人运动的重要技术挑战。由此产生的高度通用的步行机器人将能够避开障碍物，例如避开人类居住环境中的行人和灾难现场的碎片。该项目将把研究与教育和推广活动结合起来，吸引来自不同群体的学生参与机器人和控制研究。该项目的目标是推进混合系统控制方面的知识，通过可靠的全球位置跟踪控制实现高度通用的双足机器人行走。研究借鉴反馈控制理论和混合动力系统创建一个系统的方法跟踪控制器设计的一般混合动力系统的状态触发跳跃，包括双足步行机器人。为实现这一研究目标，本文将致力于以下几个方面的工作：（1）提出一种新的参考轨迹修正方法，解决具有状态触发跳变的混合系统轨迹跟踪问题中的间歇性跟踪误差发散问题;（2）将李雅普诺夫理论推广到一般的混合系统，用于创建一大类可证明解决跟踪问题的控制器的离散跳跃;以及（3）综合利用所研究的控制器设计的控制框架，以实现高通用性，同时具有可证明的稳定性，敏捷性，和能源效率来实现双足机器人行走该项目将为创造下一代腿式机器人系统奠定基础，使其能够安全可靠地在现实世界中运行。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

Asymptotic Stabilization of Aperiodic Trajectories of a Hybrid-Linear Inverted Pendulum Walking on a Vertically Moving Surface

垂直运动表面上混合线性倒立摆非周期轨迹的渐近稳定

• DOI: 10.23919/acc55779.2023.10156645
• 发表时间: 2023
• 期刊: IEEE
• 作者: Iqbal, Amir;Veer, Sushant;Gu, Yan
• 通讯作者: Gu, Yan

Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties

• DOI: 10.1115/1.4050259
• 发表时间: 2021-08
• 期刊: Journal of Dynamic Systems Measurement and Control-transactions of The Asme
• 影响因子: 1.7
• 作者: Yan Gu;C. Yuan

Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface

摇摆刚性表面欠驱动双足机器人行走的时变 ALIP 模型和鲁棒足部放置控制

• DOI: 10.23919/acc55779.2023.10156254
• 发表时间: 2023
• 期刊: Proceedings of the American Control Conference
• 作者: Gao, Yuan;Gong, Yukai;Paredes, Victor;Hereid, Ayonga;Gu, Yan
• 通讯作者: Gu, Yan

Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis

通过虚拟约束设计和多重李亚普诺夫分析的三维双足机器人的全局位置跟踪控制

• DOI: 10.1115/1.4054732
• 发表时间: 2022
• 期刊: and Control
• 作者: Gu, Yan;Gao, Yuan;Yao, Bin;Lee, C. S.
• 通讯作者: Lee, C. S.

Exponential Stabilization of Periodic LIP walking on a Horizontally Moving Surface

水平运动表面上周期性 LIP 行走的指数稳定性

• 发表时间: 2022
• 期刊: Dynamic Walking Conference
• 作者: Gao, Yuan;Paredes, Victor;Hereid, Ayonga;Gu, Yan
• 通讯作者: Gu, Yan