Intelligent Walking of Humans and Robots

在该项目的第一阶段，它表明，一个虚拟枢轴点（VPP）出现在人类的步态，即使在地下覆盖不平坦的步行。这样的VPP是没有观察到的人形机器人萝拉，鉴于目前的控制策略实施。因此，该提案第二阶段的目标将是发现行走期间VPP的出现是否是一个受控或可控的目标，或者它是否是肌肉骨骼系统中动态相互作用的内在因素。为了研究这个基本问题，一方面将对人类步态进行进一步分析（A部分），另一方面，将进行研究以发现如何为人形机器人构建相关的控制策略（B部分）。特别是，理解能够生成或修改VPP的可能的调谐参数将是有趣的。因此，在A部分中，将创建行走条件，目的是消除VPP的出现（例如，通过向后行走，踩高跷行走或在完成额外任务时行走）。此外，我们将测量神经系统疾病患者（帕金森和多发性硬化症）的步态，以分析这种情况如何改变和消除VPP。在部分B中，控制策略将被调整、修改（例如，通过在规划期间放松对ZMP约束的约束）或重新定义，以便在人形机器人的步态期间生成VPP。这些新的控制策略将首先在简单的模型（如BSLIP模型）上进行研究，然后在Lola机器人的规划和控制中实施。

In the first phase of the project, it was shown that a Virtual Pivot Point (VPP) arises during human gait even when walking over a covered unevenness of the underground. Such a VPP is not observed in the humanoid robot Lola, given the current control strategies implemented. Therefore, the objective of the second phase of the proposal will be to discover if the appearance of a VPP during walking is a controlled or controllable goal or if it is intrinsic to the dynamic interplay in the musculoskeletal system. To investigate this fundamental question, further analysis of the human gait will be performed (Part A) on one hand and, on the other hand, research will be conducted to discover how a related control strategy can be built for humanoid robots (Part B). In particular, it will be interesting to understand the possible tuning parameters enabling to generate or modify the VPP. Thus, in Part A, walking conditions will be created with the aim to annihilate the appearance of a VPP (e.g by walking backwards, walking on stilts or while fulfilling additional tasks). Additionally, we will measure the gait of neurologically sick patients (Parkinson and multiple sclerosis) in order to analyze how such a condition modifies and annihilates the VPP. In Part B, the control strategy will be adapted, modified (for instance by relaxing the constraints on the ZMP-constraint during the planning) or redefined in order to generate a VPP during the gait of a humanoid robot. These new control strategies will be first investigated on simple models (such as the BSLIP model) and will then be implemented in the planning and control of the Lola robot.