Hybrid Control for Agility and Efficiency in Bipedal Robots with Compliance

提案编号：0600869 PI- GrizzleIntellectual Merit：这项研究的目的是创建一个混合动力系统的理论，该理论足够丰富，可以控制双足机器，使其能够像人类一样行走，跑步并适应不同的地形。将开发一种反馈设计方法，该方法是系统的，可证明是正确的，允许权衡分析，并具有有效的符号和数值计算工具。该方法将在具有串联柔性致动的腿式机器上进行说明。将研究具有柔顺致动器的机器人的混合零动力学，并将其应用于特定的运动控制问题，例如在平坦表面上高效运行和在不平坦表面上行走。更广泛的影响：双足运动的研究在医学上有重要的应用，包括下肢假肢和行走和平衡的康复。了解机器中的稳定动态运动比了解人体中的运动要简单得多，但这是一个很好的起点。现在，研究正在产生一种理解，即如何在具有拟人步态的机器中实现稳定的运动，有可能将这一知识作为跳板，以恢复受伤人员的运动能力。PI还与S.E.的瑟斯顿高中合作。密歇根州开发与这项研究建议有关的教育材料，适用于高中科学课程。

Proposal Number: 0600869PI - GrizzleIntellectual Merit: The objective of this research is to create a theory of hybrid systems that is rich enough to control a bipedal machine so that it can walk, run, and adapt its gait to varying terrain, like a human. A feedback design method will be developed that is systematic, provably correct, permits tradeoff analysis, and has effective symbolic and numerical tools for computations. The approach will be illustrated on legged machines with series compliant actuation. The hybrid zero dynamics of robots with compliant actuators will be studied and applied to specific motion control problems, such as energetically efficient running on a flat surface, and walking on uneven surfaces. Broader Impacts: There are important medical applications of bipedal locomotion research, including prostheses for the lower limbs and rehabilitation of walking and balance. Understanding stable dynamic motion in a machine is far simpler than in a human body, but it is a good place to start. Now that research is yielding an understanding of what it takes to achieve stable locomotion in machines capable of anthropomorphic gaits, it is possible to use this knowledge as a springboard in the search to recover locomotion ability in people who have suffered injuries. The PI is also cooperating with Thurston High School in S.E. Michigan to develop education material related to this research proposal that is appropriate for use in high school science courses.