Asymmetric Gait Generation for Legged Locomotion in Complex Environments via Off-Line Model Reduction and Real-Time Optimal Control
通过离线模型简化和实时最优控制,生成复杂环境中腿部运动的不对称步态
基本信息
- 批准号:2128568
- 负责人:
- 金额:$ 49.97万
- 依托单位:
- 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:2021-09-01 至 2024-08-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
This Foundational Research in Robotics (FRR) project will create new control tools to improve the locomotion capabilities of legged robots in real-world environments. The goal is a generalizable and broadly applicable control framework for legged robots with highly articulated limbs. These new control tools will address the complexity of the robots, the hybrid dynamics caused by intermittent ground contact, and the limited control authority provided by small motors. Although current humanoid robots are highly proficient at moving at a constant speed in a straight line, they can be challenged in situations requiring unanticipated changes in speed and direction. Overcoming this challenge will facilitate the broader adoption of legged robots for mainstream applications in homes, offices, factories, and warehouses. This project will also train the next generation of engineers and roboticists through undergraduate research, capstone projects, and robotics outreach to minorities in Science, Technology, Engineering, and Mathematics.The most extensively investigated control approach for legged robots is to use symmetric force/torque profiles, which leads to symmetric gaits characterized by a constant speed, straight-line movement. However, to move at variable speed and to steer, robots need to use asymmetric torque/force profiles, which leads to asymmetric gaits. The high degrees of freedom of the legged system makes asymmetric gait generation to be computationally demanding and the underactuation (fewer actuators than degrees of freedom) makes gait stabilization to be challenging. The central idea of the grant is to use data-driven methods to approximate the dynamics between key instances in the gait. These approximations are done with low-order polynomials and they capture the asymmetry of the gaits. These reduced-order models, when incorporated within an optimization framework, can be solved in real-time. Finally, extensive experimental verification and validation is planned on a high-dimensional bipedal robot in real-world scenarios. This project is supported by the cross-directorate Foundational Research in Robotics program, jointly managed and funded by the Directorates for Engineering (ENG) and Computer and Information Science and Engineering (CISE).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.
这个机器人基础研究(FRR)项目将创建新的控制工具,以提高腿式机器人在现实环境中的运动能力。我们的目标是一个可推广和广泛适用的控制框架,高度铰接四肢腿机器人。这些新的控制工具将解决机器人的复杂性,间歇性地面接触引起的混合动力学,以及小型电机提供的有限控制权限。虽然目前的人形机器人在直线上以恒定速度移动方面非常熟练,但在需要速度和方向发生意外变化的情况下,它们可能会受到挑战。克服这一挑战将促进腿式机器人在家庭、办公室、工厂和仓库的主流应用中得到更广泛的采用。该项目还将通过本科生研究、顶点项目和面向科学、技术、工程和数学领域少数民族的机器人推广活动,培养下一代工程师和机器人专家。腿式机器人最广泛研究的控制方法是使用对称力/扭矩分布,这导致对称步态,其特征是恒定速度,直线运动。然而,为了以可变的速度移动和转向,机器人需要使用不对称的扭矩/力分布,这导致不对称的步态。腿式系统的高自由度使得非对称步态生成在计算上要求很高,并且欠致动(致动器比自由度少)使得步态稳定具有挑战性。该补助金的中心思想是使用数据驱动的方法来近似步态中关键实例之间的动态。这些近似是用低阶多项式完成的,它们捕捉了步态的不对称性。这些降阶模型,当纳入一个优化框架,可以实时解决。最后,广泛的实验验证和验证计划在现实世界的场景中的高维双足机器人。该项目由跨部门的机器人基础研究项目支持,该项目由工程部(ENG)和计算机与信息科学与工程部(CISE)共同管理和资助。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
期刊论文数量(4)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Gaussian Process Regression For Sim-to-real Transfer Of Hopping Gaits
跳跃步态模拟到真实迁移的高斯过程回归
- DOI:
- 发表时间:2023
- 期刊:
- 影响因子:0
- 作者:J. Krause, A. Alaeddini
- 通讯作者:J. Krause, A. Alaeddini
Quadratically constrained quadratic programs using approximations of the step-to-step dynamics: application on a 2D model of Digit
使用逐步动力学近似的二次约束二次规划:在 Digit 的 2D 模型上的应用
- DOI:10.1109/humanoids53995.2022.10000251
- 发表时间:2022
- 期刊:
- 影响因子:0
- 作者:Hinojosa, Ernesto Hernandez;Torres, Daniel;Bhounsule, Pranav A.
- 通讯作者:Bhounsule, Pranav A.
A Simple Controller for Omnidirectional Trotting of Quadrupedal Robots: Command Following and Waypoint Tracking
四足机器人全向小跑的简单控制器:命令跟随和路径点跟踪
- DOI:10.3390/robotics12020035
- 发表时间:2023
- 期刊:
- 影响因子:3.7
- 作者:Bhounsule, Pranav A.;Yang, Chun-Ming
- 通讯作者:Yang, Chun-Ming
Control of a Bipedal Walking Using Partial Feedback Linearization and Gaussian Process Regression-Based of the Step-to-Step Map
使用部分反馈线性化和基于步进图的高斯过程回归的双足行走控制
- DOI:
- 发表时间:2023
- 期刊:
- 影响因子:0
- 作者:D. Torres, E. Hernandez-Hinojosa
- 通讯作者:D. Torres, E. Hernandez-Hinojosa
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Pranav Bhounsule其他文献
Pranav Bhounsule的其他文献
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{{ truncateString('Pranav Bhounsule', 18)}}的其他基金
CRII: RI: Energy Effective and Versatile Bipedal Robots Using Event-Based Switching Between Parameterized Steady-State Controllers
CRII:RI:节能且多功能的双足机器人,在参数化稳态控制器之间使用基于事件的切换
- 批准号:
2010736 - 财政年份:2019
- 资助金额:
$ 49.97万 - 项目类别:
Standard Grant
RI: Small: Agile Legged Robots: Composing Periodic Gaits for Aperiodic Locomotion
RI:小型:敏捷腿式机器人:为非周期性运动组合周期性步态
- 批准号:
1946282 - 财政年份:2019
- 资助金额:
$ 49.97万 - 项目类别:
Continuing Grant
RI: Small: Agile Legged Robots: Composing Periodic Gaits for Aperiodic Locomotion
RI:小型:敏捷腿式机器人:为非周期性运动组合周期性步态
- 批准号:
1816925 - 财政年份:2018
- 资助金额:
$ 49.97万 - 项目类别:
Continuing Grant
CRII: RI: Energy Effective and Versatile Bipedal Robots Using Event-Based Switching Between Parameterized Steady-State Controllers
CRII:RI:节能且多功能的双足机器人,在参数化稳态控制器之间使用基于事件的切换
- 批准号:
1566463 - 财政年份:2016
- 资助金额:
$ 49.97万 - 项目类别:
Standard Grant
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