Instrumentation for a bipedal robot test facility

与其他移动机器人相比，双足机器人的优势在于它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。这些优点使双足机器人能够帮助人类，并与人类和谐相处。双足机器人的研究一直集中在稳定运动和节能运动两方面。我的研究目标是开发既稳定又节能的双足机器人。我们的重点是深入了解两足运动的力学和发展相关的基本理论。主要采用计算机建模和理论方法。在理论发展方面作出了重大贡献。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，它包括两个子系统。第一个子系统，我在这个应用程序中请求资助，包括(1)站立双足机器人，(2)被动动态行走双足机器人和(3)简化的主动双足行走双足机器人。站立两足和主动两足都配备了执行器和传感器。第二个子系统是步态测量系统，可以从我的实验室获得。这三只两足动物将在测力板上站立/行走，以监测地面的反应。这项研究对智能双足机器人的发展有直接的帮助。它也为人类步态障碍的诊断、假肢的设计和康复方案的应用提供了坚实的基础。由于实验研究是由我们的理论发展推动的，因此拟议的设施设计独特，可以让我的研究生/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，许多高素质的人才将得到更好的培训。我从来没有收到NSERC的设备资助来支持我对双足机器人的研究。拟建的实验设施将使我的研究有一个很大的飞跃，并大大提高我们的工程研究/教育能力。

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.