CAREER: Morphological Computation for Resilient Dynamic Locomotion of Compliant Legged Robots with Application to Precision Agriculture

职业：顺应腿式机器人弹性动态运动的形态计算及其在精准农业中的应用

• 批准号: 2046270
• 负责人: Konstantinos Karydis
• 金额: $ 57.21万
• 依托单位: University of California-Riverside
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-03-01 至 2026-02-28
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2046270&HistoricalAwards=false
• 关键词: CAREER; Morphological; Computation; Resilient; Dynamic

This Faculty Early Career Development (CAREER) project innovates compliant multi-legged robotics technology for precision agriculture. High agility, maneuverability, and payload capacity, combined with a small footprint, make legged robots well suited to precision agriculture applications. This project develops and experimentally validates a theoretical and computational framework for structurally compliant legged robots to navigate over natural terrain. A systematic series of experiments will show how increasing the degree of compliance in the robot structure -- from passive elasticity in hip and waist joints, to fully deformable chassis and legs -- affects the efficiency and resilience of locomotion. The project integrates foundational robotics research on design, modeling, motion control, and planning into two educational and outreach programs across K-12 and higher education. The first is a robotics makerspace for undergraduate students at the University of California-Riverside, and the second is a robotics summer academy camp for female middle-school students. Both efforts capitalize on student diversity at UC Riverside, a Hispanic Serving Institution, to broaden participation of under-represented minority groups.The project investigates how compliance embedded into a legged robot can be harnessed to facilitate control and computation, with an eye to enabling efficient and resilient navigation in real agricultural fields. Research activities innovate along three key foundational robotics research directions. 1) Hardware design and dynamic modeling: The project offers fundamental insights and develops models regarding the effect of various forms of compliance on center of mass motion and gait stabilization for certain classes of legged robots and introduces new hardware designs that can harness compliance and enable principles of morphological computation. 2) Locomotion control: The project establishes compliance-aware legged locomotion controllers according to principles of whole-body and central pattern generator-based control to enable efficient closed-loop legged locomotion over a range of engineered and natural unstructured terrains. 3) Non-holonomic motion planning and autonomous navigation: The project develops non-holonomic motion planners that rely upon and utilize distinctive features of robot body morphology and embedded compliance for efficiency and resilience during autonomous legged locomotion over real agricultural fields. This research can transform the science and technology of autonomous legged robots by making them more efficient and resilient in their operation, and thus unlock legged robots’ full potential in precision agriculture.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.

这项教师早期职业发展（职业）项目创新符合精确农业的多腿机器人技术技术。高敏捷性，可操作性和有效载荷能力加上较小的足迹，使腿部机器人非常适合精确的农业应用。该项目开发并在实验上验证了结构符合的腿部机器人的理论和计算框架，以在自然地形上导航。一系列系统的实验将表明，从髋关节和腰部关节中的被动弹性到完全可变形的机箱和腿部，提高机器人结构中的合规性程度如何影响运动的效率和弹性。该项目将有关设计，建模，运动控制和计划的基础机器人研究整合到K-12和高等教育的两个教育和外展计划中。第一个是加利福尼亚大学河畔大学的本科生的机器人制造商空间，第二个是针对女性中学生的机器人夏季学院营地。这两项努力都利用了西班牙裔服务机构UC Riverside的学生多样性，以扩大代表性不足的少数群体的参与。该项目调查了如何利用嵌入到腿部机器人中的合规性来促进控制和计算，以促进实际的农业领域，以实现有效和抵抗力的航海领域。研究活动沿三个主要的基础机器人技术研究方向进行创新。 1）硬件设计和动态建模：该项目提供了有关各种形式合规性对质量运动中心的影响的基本见解和开发模型，并满足某些类别的腿部机器人的稳定化，并引入了可以利用合规性和启用形态学计算原理的新硬件设计。 2）运动控制：该项目根据全身和基于中央模式生成器控制的原理建立了合规性的腿部运动控制器，以在一系列工程和自然的非结构地形上实现有效的闭环腿部运动。 3）非自主运动计划和自主导航：该项目开发了非自主运动计划者，这些计划者依靠并利用机器人体形态的独特特征，并嵌入了依从性，以提高自主腿部运动期间的效率和韧性。这项研究可以通过使其在运营中更有效和有弹性，从而改变腿部机器人在精确农业方面的全部潜力来改变自主腿机器人的科学和技术。该奖项反映了NSF的法定任务，并被认为是通过基金会的知识分子优点和更广泛的影响审查的审查标准来通过评估来获得的支持。

项目成果

A Novel Lockable Spring-Loaded Prismatic Spine to Support Agile Quadrupedal Locomotion

• DOI: 10.1109/iros55552.2023.10341427
• 发表时间: 2023-08
• 期刊: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• 作者: Keran Ye;Kenneth Chung;Konstantinos Karydis

Koopman Operators for Modeling and Control of Soft Robotics

• DOI: 10.1007/s43154-023-00099-8
• 发表时间: 2023-01
• 期刊: Current Robotics Reports
• 作者: Lu Shi;Zhichao Liu;Konstantinos Karydis

Position Control and Variable-Height Trajectory Tracking of a Soft Pneumatic Legged Robot

软体气动腿机器人的位置控制和可变高度轨迹跟踪

• DOI: 10.1109/iros51168.2021.9635966
• 发表时间: 2021
• 期刊: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Liu, Zhichao;Karydis, Konstantinos
• 通讯作者: Karydis, Konstantinos

Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine

预载弹性棱柱脊柱四足动物立定跳远建模与轨迹优化

• DOI: 10.1109/iros51168.2021.9636606
• 发表时间: 2021
• 期刊: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Ye, Keran;Karydis, Konstantinos
• 通讯作者: Karydis, Konstantinos

ACD-EDMD: Analytical Construction for Dictionaries of Lifting Functions in Koopman Operator-Based Nonlinear Robotic Systems

• DOI: 10.1109/lra.2021.3133001
• 发表时间: 2021-11
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Lu Shi;Konstantinos Karydis