Biped Locomotion Control

这个项目的目标是发展一个连贯的数学框架，在这个框架中，两足系统的渐近稳定反馈控制器可以被严格地分析和合成。反馈控制是生物和机械两足运动的重要组成部分。对于欠驱动两足动物的重要情况，文献中提出的反馈控制器或稳定机构均未被证明能产生渐近稳定运动。缺乏分析进展通常归因于即使是最简单的两足动物模型固有的复杂性。拟议的工作将基于Grizzle， Abba和Plestan最近的突破。对于具有躯干和僵硬腿（即没有膝盖）的欠驱动双足动物的重要特殊情况，这些研究人员提供了反馈控制步行运动渐近稳定性的第一个数学证明。这个项目将系统地探索反馈稳定和设计一系列更现实的两足动物模型。这些模型将根据它们对机器人、生物力学和假肢的适用性进行选择，并将在驱动程度上代表一个广泛的范围。

The objective of this project is to develop a coherent mathematical framework in which asymptotically stabilizing feedback controllers for biped systems may be rigorously analyzed and synthesized. Feedback control is an integral part of both biological and mechanical biped locomotion. For the important cases of under actuated bipeds, none of the feedback controllers or stabilization mechanisms proposed in the literature has been proven to yield asymptotically stable motions. The lack of analytical progress is normally attributed to the inherent complexity of even the simplest biped models. The proposed work will be based on a recent breakthrough by Grizzle, Abba and Plestan. For the important special case of an under actuated biped with a torso and stiff legs (i.e., no knees), these researchers provided the first mathematical proof of the asymptotic stability of a feedback-controlled walking motion. This project will systematically explore feedback stabilization and design for a sequence of more realistic biped models. The models will be selected on the basis of their applicability to robotics, biomechanics and prosthetics, and will represent a wide range in the degree of (under) actuation.