Feedback Control of Highly Dynamic Spatial Locomotion in 3D Bipedal Robots

本项目通过研究三维双足机器人的高动态运动，为反馈控制奠定了基础。知识价值：据估计，地球上70%的陆地无法通行轮式或履带式车辆。这激发了人们对设计用腿作为运动手段的机器人的兴趣。有了腿，机器人可以跨越障碍物或使用稀疏的立足点（如梯子）。在国家科学基金会的资助下进行的研究正在提高设计能够在广泛的自然环境中工作的机器人的能力。特别是，这项工作的重点是开发反馈控制算法，使双足机器人能够快速行走、奔跑和转弯，而不会绊倒和摔倒，从而使这类机器人能够在极端危险的情况下协助人类，并最终代替人类的那一天更加接近，比如在应对重大工业事故或家庭火灾时。更广泛的影响：通过向数百名从小学到高中的学生提供3D机器人实验室的参观，这项资助正在进行的研究正在增强人们对STEM学科的兴趣。更广泛地说，这项工作正在受到媒体的关注，让公众了解尖端工程研究的兴奋之处，以及它如何造福社会。传播：在这项资助下进行的研究将在同行评议的主要期刊和会议上发表。这项工作也可以在公共网站和YouTube频道“动态腿部运动”上看到。这个频道的视频在世界各地的许多电视节目中都有播放。

This project contributes to the foundations of feedback control through the study of highly dynamic motions for 3D bipedal robots. Intellectual Merit: It is estimated that 70% of the earth's landmass is inaccessible to wheeled or tracked vehicles. This has stimulated interest in the design of robots that use legs as a means of locomotion. With legs, robots can step over obstacles or use sparse footholds (as in ladders). The research conducted under this NSF grant is enhancing the ability to design robots that can function in a wide range of natural environments. In particular, this work focuses on developing feedback control algorithms that will allow bipedal robots to walk, run, and turn rapidly, without stumbling and falling, thereby bringing closer the day when such robots can assist humans, and eventually stand in for them, in situations of extreme danger, such as when responding to a major industrial accident or a fire in a home.Broader Impacts: The research being conducted in this grant is enhancing the interest in STEM subjects, by giving tours of the 3D robotics laboratory to hundreds of students, from grade school through high school. More broadly, the work is being highlighted in the media, informing the public about the excitement of cutting-edge engineering research and how it benefits society.Dissemination: The research conducted in this grant is being published in leading peer-reviewed journals and conferences. The work is also available on public web sites and a YouTube channel, Dynamic Leg Locomotion. Videos from this channel have been featured worldwide on numerous television programs.