U.S.-France Cooperative Research: Nonlinear Control for Biped Walking Robots

9980227灰熊这三年奖美国-法国在电气和通信系统方面的合作研究涉及密歇根大学的研究生Alfrey Grizzle、法国南特控制论研究所的Claude Moog、克莉丝汀Chevallereux和路易斯巴斯德大学的Franck Plestan。 该项目由美国国家科学基金会和法国国家科学研究中心（CNRS）的一个项目支持，将促进两足步行机器人自动控制方面的合作。 研究人员将专注于与设计这些机器人的分析方法有关的问题。 该研究建立在以前的数学分析的周期性步行周期的驱动下，五自由度的机器人，包括两个刚性腿和躯干，但没有膝盖。 本研究将延伸分析，以设计一个欠驱动，七个自由度的机器人渐近稳定的步行运动。 它利用了法国团队开发的1.425米长的机器人，包括躯干和膝盖。美国研究人员为这次合作带来了非线性控制分析和设计方面的专业知识。 法国团队的经验和实验测试平台对此进行了补充。 这些研究将促进我们对机器人非线性控制中所涉及的分析方法的理解，以及它在改善粗糙地形中的运动和在假肢开发和测试中的应用的潜力。

9980227GrizzleThis three-year award for U.S.-France cooperative research in electrical and communication systems involves Jessy Grizzle, a graduate student from the University of Michigan, Claude Moog, Christine Chevallereux of the Institut de Recherche de Cybernetique, Nantes, France, and Franck Plestan of the University Louis Pasteur. The project, supported under a program of the National Science Foundation and the French National Center for Scientific Research (CNRS), will facilitate collaboration on automatic control of biped-walking robots. The investigators will focus on issues related to analytical methodology for designing these robots. The research builds on previous mathematical analysis of a periodic walking cycle of an under actuated, five degree of freedom biped robot, consisting of two rigid legs and a torso, but no knees. This research will extend the analysis to design of asymptotically stable walking motions for an under actuated, seven degree of freedom biped robot. It takes advantage of access to a 1.425 m biped robot, complete with a torso and knees, that has been developed by the French team.The U.S. investigator brings to this collaboration expertise in nonlinear control analysis and design. This is complemented by the experience and experimental testbed of the French team. The studies will advance our understanding of the analytical methodology involved in nonlinear control of robots and its potential for improving locomotion in rough terrain and uses in prosthesis development and testing.