Control of Legged Locomotion and Maneuvers in Dynamic Biped Robots

动态双足机器人的腿部运动和机动控制

• 批准号: 9213727
• 负责人: Marc Raibert
• 金额: $ 30万
• 依托单位: Massachusetts Institute of Technology
• 依托单位国家: 美国
• 项目类别: Continuing grant
• 财政年份: 1993
• 资助国家: 美国
• 起止时间: 1993-01-15 至 1996-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9213727&HistoricalAwards=false
• 关键词: Control; Legged; Locomotion; Maneuvers; Dynamic

The broad purpose of this work is to understand basic principles and laboratory robot implementations of sensory-motor control and integration. Such principles could make it possible to build robots that are more agile and dextrous than existing robots, and they could provide some insight into human and animal behavior. The project will use as a conceptual and experimental testbed, the locomotion of dynamic biped robots that balance themselves actively as they move. Within this context, the project will explore actively balanced walking and running, the generation of ballistic maneuvers like those used in gymnastics, task level control, and the mechanical design of legs for good dynamic performance. The work will involve the analysis of models of legged systems, development of control systems and mechanical designs, and experiments on simulations and laboratory robots.

这项工作的广泛目的是了解感觉运动控制和整合的基本原理和实验室机器人实施。 这样的原则可以使建造比现有机器人更敏捷和灵巧的机器人成为可能，并且可以对人类和动物的行为提供一些见识。 该项目将用作概念和实验性测试床，即动态的双头机器人的运动，这些机器人在移动时会积极地平衡自己。 在这种情况下，该项目将探索积极平衡的步行和跑步，像体操，任务级别控制和腿部机械设计一样的弹道演习的产生，以良好的动态性能。 这项工作将涉及对腿系统模型的分析，控制系统和机械设计的开发以及模拟和实验室机器人的实验。