Japan JSPS Program: Kinodynamic Planning for Highly-Articulated Robots

INT-9908746 Kuffner James J. Kuffner博士提出的研究将研究高度关节型机器人的运动动力学规划。高关节结构（如人体）的运动计算依赖于动画和控制的通用架构。过去，在计算运动时忽略了系统动力学;这种忽略的优点是增加了计算结果的简单性和速度。然而，通过违反力、扭矩或速度限制，计算出的运动在物理上可能不合理。通过在系统状态空间中将运动规划问题转换为最优控制问题，新的算法产生了一个运动动力学解决方案，解决了可扩展性问题。Kuffner博士建议使用包括类人机器人在内的开链关节机器人开发和测试这些新算法。该奖项支持日本科学促进协会（JSPS）为日本东京大学机械信息学系的James J. Kuffner博士提供为期两年的博士后奖学金。Kuffner博士将与该系教授Hirochika Inoue博士合作开展一个名为“关节机器人的Kinodynamic规划”的项目。“这项工作的成功结果有可能应用于各种复杂的动力系统，包括机器人气垫船，卫星，关节式机器人手臂和人形机器人，潜艇，汽车式机器人，或机器人飞机和直升机。拟议的工作将受益于与日本东道实验室的合作，Kuffner博士将在那里获得必要的实验系统、设备和专门知识 *。

INT-9908746KuffnerThe proposed research by Dr. James J. Kuffner will examine kinodynamic planning for highly-articulated robots. Computations of the motions of highly-articulated structures such as human figures depend on a general architecture for animation and control. In the past, system dynamics have been ignored when computing motions; the advantage of this omission is increased simplicity and speed in computation of the result. The computed motions may not be physically plausible, however, by violations of force, torque or velocity limits. By recasting the motion planning problem as an optimal control problem in the system state space, new algorithms yield a kinodynamic solution which addresses plausibility issues. Dr. Kuffner proposes to develop and test these new algorithms using open-chain articulated robots, including humanoid-type robots.This award supports a two-year Japan Society for the Promotion of Science (JSPS) Postdoctoral Fellowship for Dr. James J. Kuffner in the Department of Mechano-Informatics at the University of Tokyo, Japan. Dr. Kuffner will work with Dr. Hirochika Inoue, Professor in the Department, on a project entitled, "Kinodynamic Planning for Articulated Robots." The successful results of this work have potential application to a wide variety of complex dynamical systems, including robot hovercrafts, satellites, articulated robot arms and humanoid robots, submarines, car-like robots, or robot planes and helicopters. The proposed work will benefit through collaboration with the Japanese host laboratory, where Dr. Kuffner will have access to the necessary experimental systems, equipment and expertise***.