Collaborative Proposal: Abstraction-Based Motion Programs for Complex, Interconnected Systems

提案编号：0820004/0819929TITLE：用于复杂、互联系统的基于抽象的运动程序PI：Magnus Egerstedt和Todd Murphey用于复杂、物理系统的基于抽象的运动控制的系统方法仍然在很大程度上缺乏嵌入式系统设计的控制理论基础。高自由度物理系统的例子包括类人机器人、多腿机器人、微创手术机器人和协作系统。这项工作的目的是了解如何使高级运动编程语言成为用于这种复杂的、相互关联的机械系统的有效软件系统的基础。为此，将沿着以下方向开发新的工具和技术：1)构建基于最优控制技术的运动描述语言；2)开发一种新颖的、基于图形的机械系统表示法，允许对用于仿真和分析的机械系统进行紧凑的表示；3)从经验数据自动生成动态可行的运动基元；4)开发一个基于能够执行所开发的运动程序的自主提线木偶的实验试验台--该试验台还将作为学生的独特学习环境，因为它需要了解高度非线性的动态系统、用于同步、混合系统和最优控制的网络结构。

Proposal Number: 0820004/0819929TITLE: Abstraction-Based Motion Programs for Complex, Interconnected SystemsPIs: Magnus Egerstedt and Todd MurpheySystematic approaches to abstraction-based motion control of complex, physical systems are still largely missing from the control-theoretic foundations of embedded system design. Examples of high-degree of freedom physical systems include humanoids, multi-leg robots, minimally-invasive surgical robotics, and cooperative systems. This work aims at understanding how high-level motion program languages can be made to form a basis for an effective software system for such complex, interconnected mechanical systems. For this, novel tools and techniques are to be developed along the following directions: 1) construction of motion description languages based on optimal control techniques; 2) development of a novel, graph-based representation of mechanical systems that allows for a compact representation of mechanical systems for simulation and analysis; 3) automatic generation of dynamically feasible motion primitives from empirical data; 4) development of an experimental testbed based on autonomous marionette puppets that can execute the developed motion programs--this testbed will also serve as a unique learning environment for students in that it requires an understanding of highly nonlinear dynamic systems, networking architectures for synchronization, hybrid systems, and optimal control.