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NRI: A Novel Framework for the Hardware and Control Co-design of Dynamic Humanoid Robots with Electric Motors

NRI：带有电动机的动态人形机器人的硬件和控制协同设计的新颖框架

基本信息

批准号：
2220924
负责人：
Justin Yim
金额：
$ 120万
依托单位：
University of Illinois at Urbana-Champaign
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2022
资助国家：
美国
起止时间：
2022-09-01 至 2026-08-31
项目状态：
未结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2220924&HistoricalAwards=false
关键词：
NRI Novel Framework Hardware Control

项目摘要

Quadruped robots are now doing real work including exploration of abandoned mines, inspection of power plants, transportation of payloads on rough terrain, and more. The remarkable recent transition from research platforms to useful robots was enabled by fundamental innovations on powerful, inexpensive, and widely available electric motors. But quadrupedal robots cannot use tools created for humans or work in environments designed for the anthropomorphic form, such as narrow corridors or climbing ladders. Instead, capable humanoid robots could help prevent the recurrent injuries and disabilities of firefighters, nurses, or warehouse workers in the US, and save billions of dollars on health care each year. The fundamental challenge preventing the advent of widely adopted humanoid robots is that their mechanical structure and motion control are significantly more complex than those of quadrupedal robots. This project will close this gap by translating the technology that enabled the remarkable success of quadruped robots to the creation of physically capable humanoid robots via a formal and systematic design process. The robot Dash fabricated in this project will realize athletic tasks, such as running and powerlifting, with a performance comparable to humans. The robot will be open-sourced to lower the barrier to entry for research, establish a common platform for benchmarking performance, accelerate the research progress on humanoid robots, and expedite their transition to useful tools in the US.This project will create an integration framework for the co-design of the hardware and control of humanoid robots with electric motors to maximize their physical capabilities. The main fundamental science of this project is a holistic framework for robot integration of dynamic humanoids and at the core of this framework is a novel co-design optimization formulation that is scalable to multiple tasks. The transformative nature of this formulation is amplified by three fundamental scientific contributions of this work: (i) Derivation of performance metrics and design principles tailored to dynamic humanoid robots; (ii) Creation of efficient computational tools for simulation and identification of the complex mechanisms employed by these robots; And (iii) extension of dynamic whole-body control techniques to address self-collision. The open-source humanoid robot Dash will be integrated with this framework for realizing demanding physical tasks including running, powerlifting, and carrying a substantial payload. The lessons learned from this research will be reflected in education through the creation of a course on the design and control of dynamic robots jointly taught by the PIs.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.

四足机器人现在正在做真实的工作，包括勘探废弃的矿井，检查发电厂，在崎岖的地形上运输有效载荷等等。最近从研究平台到实用机器人的显著转变是由强大，廉价和广泛使用的电动机的基础性创新实现的。但是四足机器人不能使用为人类创造的工具，也不能在为拟人化形式设计的环境中工作，比如狭窄的走廊或爬梯子。相反，有能力的人形机器人可以帮助防止美国消防员，护士或仓库工人的复发性伤害和残疾，每年可以节省数十亿美元的医疗保健费用。阻止广泛采用的人形机器人出现的根本挑战是，它们的机械结构和运动控制比四足机器人复杂得多。该项目将通过将使四足机器人取得巨大成功的技术转化为通过正式和系统的设计过程创造身体能力的人形机器人来缩小这一差距。该项目中制造的机器人Dash将实现运动任务，如跑步和举重，其性能与人类相当。该机器人将开放源代码，以降低研究的准入门槛，建立一个共同的基准性能平台，加速人形机器人的研究进展，并加快其在美国的有用工具的过渡。该项目将创建一个集成框架，用于硬件的协同设计和电动机人形机器人的控制，以最大限度地发挥其物理能力。该项目的主要基础科学是一个整体框架，用于机器人集成动态人形机器人，该框架的核心是一种新颖的协同设计优化配方，可扩展到多个任务。这项工作的三个基本科学贡献放大了这一提法的变革性质：（i）推导出针对动态人形机器人的性能指标和设计原则;（ii）创建有效的计算工具，用于模拟和识别这些机器人所采用的复杂机制;以及（iii）扩展动态全身控制技术，以解决自碰撞问题。开源人形机器人Dash将与该框架集成，以实现苛刻的物理任务，包括跑步，举重和携带大量有效载荷。从这项研究中吸取的经验教训将反映在教育中，通过创建一个课程的设计和控制的动态机器人联合教授的PI。这个奖项反映了NSF的法定使命，并已被认为是值得支持的评估使用基金会的智力价值和更广泛的影响审查标准。