Instrumentation for a bipedal robot test facility

双足机器人测试设施的仪器

• 批准号: 360435-2008
• 负责人: Wu, Christine
• 金额: $ 3.31万
• 依托单位: University of Manitoba
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments - Category 1 (<$150,000)
• 财政年份: 2007
• 资助国家: 加拿大
• 起止时间: 2007-01-01 至 2008-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=361505
• 关键词: Instrumentation; bipedal; robot; test; facility

Bipedal robots have advantages over other mobile robots in that it is easier for bipeds to negotiate the unpredictable terrain and to navigate in the same environment as humans. These advantages allow bipedal robots to help and to live in harmony with people. Research on developing bipedal robots has been focused on either stable or energy-efficient locomotion. The goal of my research is to develop bipedal robots that can have both stable and energy-efficient walking. We have focused on gaining an in-depth understanding of the mechanics of bipedal locomotion and on developing related fundamental theories. Computer modeling and theoretical approaches have mainly been used. Significant contributions have been made in the theoretical developments. However, the successful continuation of my research demands an experimental facility to support experimental research to (1) validate our theoretical developments, and (2) reveal new directions for future research. I plan to develop a unique test facility, which includes two sub-systems. The first sub-system, which I request funding in this application, includes (1) a standing bipedal robot, (2) a passive dynamic walking biped and (3) a simplified active bipedal walking biped. The standing biped and the active biped are equipped with actuators and sensors. The second sub-system is a gait measurement system, which is available from my laboratory. All three bipeds will stand/walk on force plates to monitor the ground reactions. This research contributes directly to developing intelligent bipedal robots. It also provides a solid basis for applications in diagnosing human gait disorders, design of prosthesis and rehabilitation programs. Since the experimental research is motivated by our theoretical developments, the proposed facility is uniquely designed to allow my graduate/undergraduate students to expand their research beyond theories, which has not been possible before. Thus, many highly qualified personnel will be better trained. I have never received an equipment grant from NSERC to support my research on bipedal robots. The proposed experimental facility will give a great leap to my research and greatly enhance our engineering research/education capacities.

与其他移动机器人相比，两足机器人的优势在于，两足机器人更容易通过不可预测的地形，并在与人类相同的环境中导航。这些优势使两足机器人能够帮助人类，并与人类和谐相处。开发两足机器人的研究一直集中在稳定或节能的运动上。我的研究目标是开发出既能稳定行走又能节能行走的两足机器人。我们的重点是深入了解两足动物运动的机理，并发展相关的基础理论。主要采用了计算机建模和理论方法。在理论发展方面做出了重大贡献。然而，我的研究的成功继续需要一个实验设施来支持实验研究，以(1)验证我们的理论发展，(2)为未来的研究揭示新的方向。我计划开发一个独特的测试设备，其中包括两个子系统。我在本申请中请求资助的第一个子系统包括(1)站立两足机器人，(2)被动动态行走的两足机器人和(3)简化的主动两足行走的两足机器人。站立的两足动物和活动的两足动物都配备了致动器和传感器。第二个子系统是步态测量系统，可以从我的实验室获得。所有三个两足动物都将在测力板上站立/行走，以监测地面反应。这项研究直接为开发智能两足机器人做出了贡献。为人体步态障碍的诊断、假体的设计和康复方案的设计提供了坚实的基础。由于实验研究是由我们的理论发展推动的，拟议中的设施是独特的设计，允许我的研究生/本科生将他们的研究扩展到理论之外，这在以前是不可能的。因此，许多高素质的人员将得到更好的培训。我从未收到过NSERC提供的用于支持我的两足机器人研究的设备资助。拟议中的实验设施将给我的研究带来很大的飞跃，并极大地提高我们的工程研究/教育能力。