RI-Medium: Collaborative Research: Robotic Parkour--Dynamic Climbing

提案题目：i - medium：合作研究：机器人跑酷——动态攀爬机构：西北大学摘要：日期：05/29/08我们提议探索机器人跑酷的设计、控制和运动规划——这是一种高度动态的运动形式，包括通过在对立的墙壁之间来回跳跃来上升滑道。我们的总体目标是通过充分利用机器人的动力学和环境提供的潜在反作用力，使机器人能够进入难以到达的地方。建议的工作将解决两个挑战问题：1。设计、制造并控制平面机器人在刚性垂直溜槽内动态爬升；设计、制造和控制一个平面机器人，使其在不同方向的复杂垂直环境中从初始状态可靠地移动到任何动态可达的目标状态。这项工作的真正目标不是建立特殊的；c-攀爬机器人，而不是解决科学问题；#64257；C通过面对这两个挑战来解决非平凡地形中动态腿运动的基本问题。国家科学基金提案摘要提案：0803734 PI名称：Lynch， kevinprint

Proposal Title: RI-Medium: Collaborative Research: Robotic Parkour--DynamicClimbingInstitution: Northwestern UniversityAbstract Date: 05/29/08We propose to explore design, control, and motion planning for robotic parkour---thehighly dynamic form of locomotion that includes ascending chutes by leaping back andforth between opposing walls.Our broad goal is to give robots access to difficult-to-reach places by taking fulladvantage of their dynamics and the potential reaction forces afforded by theenvironment. The proposed work will address two challenge problems:1. To design, build, and control a planar robot to dynamically climb in a rigid verticalchute, and2. To design, build, and control a planar robot to reliably move from an initial state toany dynamically reachable goal state in a complex vertical environment of footholds atvarious orientations.The true goal of this work is not to build specific-climbing robots, but rather toaddress scientific issues fundamental to dynamic legged locomotion innon-trivial terrains by confronting these two challenges.NATIONAL SCIENCE FOUNDATIONProposal AbstractProposal:0803734 PI Name:Lynch, KevinPrinted