Integrated Control and Mechanical Design of Biped Robots for Stable and Efficient Dynamic Walking

0408348摘要集成控制和机械设计的机器人稳定和有效的动态行走：E.R. WesterpyruandJ.Schmiedeler，俄亥俄州州立大学，哥伦布。研究人员建议制定和实验验证第一个框架，正式集成控制器设计和机械设计的发展，步行与步态是先验已知的是稳定的，强大的，节能。当前的主动控制设计是从机械设计中解耦的，这是由于缺乏对如何系统地生成在给定机械设计中引起动态行走的控制器的正式理解。通过设计一个程序来生成这样的控制器，迭代设计框架将是可能的。量化闭环系统特性的能力将使上级设计的发展和它们所基于的原则的识别成为可能。该框架将被应用于设计一个原型的实验验证的方法。此外，该框架将用于调查与关节顺应性、足部效用和学习相关的控制和设计问题。 拟议的工作使研究人员能够开发出不同形态的仿生原型，这些原型以动态稳定的步态行走，比迄今为止实现的任何步态都更强大，更有效。该框架将为系统开发自主两足动物提供基础，这些两足动物具有从行走和跑步到爬楼梯和爬行的各种有用行为。

0408348 AbstractIntegrated Control and Mechanical Design of Biped Robots for Stable and Efficient Dynamic Walking: E.R. Westervelt and J. Schmiedeler, The Ohio State University, Columbus.The investigators propose to formulate and experimentally validate the first framework that formally integrates controller design and mechanical design for the development of biped robots that walk with gaits that are a priori known to be stable, robust, and energy efficient. Current biped control design is decoupled from mechanical design due to a lack of formal understanding of how to systematically generate controllers that induce dynamic walking in a given mechanical design. By devising a procedure to generate such controllers, an iterative design framework will be possible. The ability to quantify closed-loop system characteristics will enable the development of superior designs and the identification of principles upon which they are based. The framework will be applied to design a prototype biped for experimental validation of the methodology. Furthermore, the framework will be used to investigate the control and design issues related to joint compliance, foot utility, and learning. The proposed work enable researchers to develop biped prototypes of different morphologies that walk with dynamically stable gaits more robust and more efficient than any achieved to date. The framework will provide the foundation for the systematic development of autonomous bipeds endowed with a variety of useful behaviors ranging from walking and running to stair climbing and crawling.