Dynamic Maneuvers in Legged Locomotion

动态机动，如快速启动，停止和方向的变化是许多哺乳动物在高速追逐或飞行情况下的重要行为。 在这个项目中，我们将研究这些机动的理论分析，数值模拟和实验相结合，使用机器人驰振机。 这项工作的重点将是非重复性的演习，而不是周期性的运动时，发生驰骋或小跑。 结合弹道轨迹的冲量动量模型将被用作我们理论分析的基础。 进化机器人策略，包括遗传算法，将与高速动态模拟相结合，以发展动态机动。 我们将设计和建造一个相对较小的实验驰振机，以进一步研究这种系统的动力学。

Dynamic maneuvers such as rapid starts, stops, and changes of directions are important behaviors for many mammals in high-speed pursuit or flight situations. In this project we will study these maneuvers by means of a combination of theoretical analysis, numerical simulation, and experiment using robotic galloping machines. The focus of the work will be on non-repetitive maneuvers, as opposed to the cyclic motions that occur when galloping or trotting. An impulse-momentum model, combined with ballistic trajectories, will be used as the basis for our theoretical analysis. Evolutionary robotics strategies, including genetic algorithms, will be used in combination with high-speed dynamic simulation to evolve the dynamic maneuvers. We will design and build a relatively small experimental galloping machine to further investigate the dynamics of such systems.