A Generalized Framework for the Control of Chemofluidic Actuators

机器人和人类增强计划摘要提案#0307651标题：一个通用的框架，用于控制化学流体执行器SPI：Goldfarb，迈克尔范德比尔特大学拟议的工作重点是制定一个框架，用于控制自供电机器人的化学流体执行器。 这些致动器的控制与标准类型的致动器明显不同，因此需要开发独特的运动和力控制方法。 为了使这种化学流体致动器广泛地用于机器人社区，用于低水平（即，位置、力、阻抗）控制。 所提出的工作包括系统识别建立反应动力学的第一原理集总参数模型，能量传输延迟，液压流动动力学，气动流动动力学，和通过本构行为的气体到机械域的热能的转导。 将开发非线性观测器，以消除或最大限度地减少传感器的要求，这反过来又会降低这样一个系统的实施成本。 第三，将非线性控制设计与非线性优化方法相结合，使多输入单输出系统能量有效。 这项工作的结果将是一个化学流体致动器建模和控制框架，这将使机器人社区的其他人能够安全有效地将类似的致动器纳入自供电机器人。

Robotics and Human Augmentation ProgramABSTRACTProposal #0307651Title: A GENERALIZED FRAMEWORK FOR THE CONTROL OF CHEMOFLUIDIC ACTUATORSPI: Goldfarb, MichaelVanderbilt UniversityThe proposed work focuses on the formulation of a framework for the control of chemofluidic actuators for self-powered robots. The control of these actuators is markedly different from standard types of actuators and as such requires the development of unique approaches to their motion and force control. In order to make such chemofluidic actuators broadly available to the robotics community, a formalized theoretical framework for the low-level (i.e., position, force, impedance) control of such actuators will be developed. The proposed work includes system identification for establishing a first-principles lumped-parameter model of reaction dynamics, energetic transport delays, hydraulic flow dynamics, pneumatic flow dynamics, and the transduction of thermal energy through the constitutive behavior of a gas into the mechanical domain. Nonlinear observers will be developed to enable elimination or minimization of sensor requirements, which in turn will reduce the cost of implementation of such a system. Thirdly, nonlinear control design will be fused with nonlinear optimization methods to render the multi-input single-output system energetically efficient. The result of this work will be a chemofluidic actuator modeling and control framework that will enable others in the robotics community to safely and effectively incorporate similar actuators into self-powered robots.