NSF Young Investigator Award

本研究着重于自主系统的交互控制和反射控制。与环境的物理交互（例如，开门、移动障碍物、遵守机械约束）是反应性自主系统的关键组成部分，阻抗控制将进一步提供这种行为。特别是，稳定和“温和”的操作行为将被调查和构建使用被动物理等效的原则。目标结果行为应在任意数量的独立控制机器之间实现稳定的相互作用。这种物理行为将为研究类似反射的高级控制器提供一个合适的平台。与传统控制系统一样，反射控制器根据感官输入生成命令。然而，与传统控制不同的是，类反射响应调用了基于逻辑和切换模式的动作，这些动作不能用传统的输入或输出的线性叠加来分析。这种非线性控制结构的使用在理解生物控制方面被证明是非常有价值的，尽管这种控制在机器上的应用还没有得到充分的理解。在本研究中，为了实验研究基于行为的系统的稳定性和设计技术，将模拟生物刺激/反应行为来构建计算机控制。//

This research emphasizes interaction control and reflex control in autonomous systems. Physical interaction with the environment (e.g., opening doors; moving obstructions; complying with mechanical constraints) is a key ingredient of reactive autonomous systems, and impedance control will be furthered to provide such behavior. In particular, stable and "gentle" manipulation behaviors will be investigated and constructed using principals of passive physical equivalents. The target resulting behavior should achieve stable interaction among any number of independently- controlled machines. Such physical behavior will provide a suitable platform for investigation of reflex-like, higher-level controllers. Reflex controllers, like conventional control systems, generate commands based on sensory inputs. Unlike traditional control, though, reflex-like responses invoke logic- based and switched-mode actions that cannot be analyzed in the traditional terms of linear superposition of inputs or outputs. Use of such nonlinear control constructions has proven highly valuable in understanding control in biological creatures, though such control is inadequately understood to be applied to machines. In this research, biological stimulus/response behaviors will be mimicked in constructing computer controls for the purpose of experimentally investigating stability properties and design techniques for behavior-based systems. //