CPS: Small: Generation of natural movement for a multiple degrees-of-freedom robot driven by stochastic cellular actuators

这项研究的目的是了解由随机控制的、生物启发的致动器驱动的骨骼机构产生自然运动的机制。方法是验证这样一个假设，即与高冗余度相关的可变性和驱动的随机性质是产生自然运动的关键。该项目旨在：(I)开发一种建模和表征执行器阵列拓扑结构的方法；(Ii)开发一种分析随机执行器阵列的力变异性的方法；(Iii)开发一种通过最小化变异性的影响来产生多自由度机器人运动的解析方法；以及(Iv)通过开发由多个随机阵列执行器驱动的机械臂来证明该方法的有效性。从智力的角度来看，研究受神经肌肉系统启发的非均匀随机执行器网络拓扑可以找到弥补生物自然运动与人工系统中的运动之间差距的“缺失环节”。潜在的结果可能会影响其他研究领域，包括强大的计算机网络、强大的免疫系统和冗余的肌肉协调。就更广泛的影响而言，一门新的研究生课程为工程和科学专业的学生提供了关于生物启发的机器人的基本原理、尖端应用和社会影响的全面和多学科教育。外展活动包括针对K-12学生的互动教育计划，以及为高中生及其导师举办的机器人开发研讨会。将启动与日本东京科学大学的国际合作。

The objective of this research is to understand mechanisms for generating natural movements of skeletal mechanisms driven by stochastically-controlled, biologically-inspired actuators. The approach is to verify the hypothesis that the variability associated with high redundancy and the stochastic nature of the actuation is key to generating natural movements. This project seeks to: (i) develop a method to model and characterize actuator array topologies; (ii) develop a method to analyze the force variability of stochastic actuator arrays; (iii) develop an analytical method to generate movements for a robot with multiple degrees of freedom by minimizing the effect of variability; and (iv) demonstrate the validity of the approach through the development of a robotic arm driven by multiple stochastic array actuators.With respect to intellectual merit, the study of inhomogeneous stochastic actuator network topologies inspired by neuromuscular systems could find the "missing links" that bridge the gap between biological natural movements and the ones in artificial systems. Potential results could impact other research areas, including robust computer networks, robust immune systems, and redundant muscle coordination.With respect to broader impacts, a new graduate-level course provides students in engineering and science with a comprehensive and multidisciplinary education in the underlying principles, cutting-edge applications, and societal impacts of biologically-inspired robotics. Outreach activities include an interactive educational program for K-12 students and a workshop for high-school students and their mentors on robot development. International collaboration with Tokyo University of Science, Japan, will be initiated.