Active balancing and complex motion planning for adult sized humanoid robots

成人尺寸人形机器人的主动平衡和复杂运动规划

• 批准号: 262062-2011
• 负责人: Baltes, Hansjorg(Jacky)
• 金额: $ 1.02万
• 依托单位: University of Manitoba
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2013
• 资助国家: 加拿大
• 起止时间: 2013-01-01 至 2014-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=525479
• 关键词: Active; balancing; complex; motion; planning

The generation of stable walking and motion planning for adult sized (> 1.4m) humanoid robots presents unique challenges, because the state space is high-dimensional, the available sensor feedback is limited, and the robots are underactuated. This proposal aims at investigating new approaches to fundamental problems involving these robots. First, how can we design and implement algorithms so that humanoid robots cannot only move over flat even surfaces, but also move over uneven terrain? The solution to this problem will allow robots to travel across grass surfaces, forest paths, and rugged terrain. Second, how can we develop algorithms so that robots can plan novel motions from scratch rather than having to pre-program them? This will allow humanoid robots to pick up objects, plan its footsteps, and to even climb up a rock wall.

成人大小(1.4m)人形机器人的稳定行走和运动规划的生成提出了独特的挑战，因为状态空间是高维的，可用的传感器反馈是有限的，并且机器人驱动不足。这项提案旨在调查解决涉及这些机器人的基本问题的新方法。首先，我们如何设计和实现算法，使类人机器人不仅能在平坦的表面上移动，还能在不平坦的地形上移动？这个问题的解决方案将允许机器人穿越草地、森林小路和崎岖的地形。其次，我们如何开发算法，让机器人可以从头开始规划新的运动，而不是预先编程？这将使类人机器人能够捡起物体，规划自己的脚步，甚至可以爬上岩壁。