Japan JSPS Program: Kinodynamic Planning for Highly-Articulated Robots

日本 JSPS 计划：高关节机器人运动动力学规划

• 批准号: 9908746
• 负责人: James Kuffner
• 金额: $ 0.52万
• 依托单位: Individual Award
• 依托单位国家: 美国
• 项目类别: Fellowship Award
• 财政年份: 2000
• 资助国家: 美国
• 起止时间: 2000-10-01 至 2002-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9908746&HistoricalAwards=false
• 关键词: Japan; JSPS; Program; Kinodynamic; Planning

INT-9908746KuffnerThe proposed research by Dr. James J. Kuffner will examine kinodynamic planning for highly-articulated robots. Computations of the motions of highly-articulated structures such as human figures depend on a general architecture for animation and control. In the past, system dynamics have been ignored when computing motions; the advantage of this omission is increased simplicity and speed in computation of the result. The computed motions may not be physically plausible, however, by violations of force, torque or velocity limits. By recasting the motion planning problem as an optimal control problem in the system state space, new algorithms yield a kinodynamic solution which addresses plausibility issues. Dr. Kuffner proposes to develop and test these new algorithms using open-chain articulated robots, including humanoid-type robots.This award supports a two-year Japan Society for the Promotion of Science (JSPS) Postdoctoral Fellowship for Dr. James J. Kuffner in the Department of Mechano-Informatics at the University of Tokyo, Japan. Dr. Kuffner will work with Dr. Hirochika Inoue, Professor in the Department, on a project entitled, "Kinodynamic Planning for Articulated Robots." The successful results of this work have potential application to a wide variety of complex dynamical systems, including robot hovercrafts, satellites, articulated robot arms and humanoid robots, submarines, car-like robots, or robot planes and helicopters. The proposed work will benefit through collaboration with the Japanese host laboratory, where Dr. Kuffner will have access to the necessary experimental systems, equipment and expertise***.

INT-9908746Kuffnerthe James J. Kuffner博士的拟议研究将检查针对高度关节机器人的动力学计划。人物诸如人物之类的高分结构运动的计算取决于动画和控制的一般体系结构。过去，计算动作时忽略了系统动力学。这种遗漏的优势在于，结果计算的简单性和速度提高。但是，由于违反力，扭矩或速度限制的行为，计算的运动在物理上可能不合理。通过将运动计划问题作为系统状态空间中的最佳控制问题，新算法产生了解决合理性问题的动力学解决方案。 Kuffner博士建议使用开放链铰接的机器人开发和测试这些新算法，包括人形型机器人。该奖项支持詹姆斯·J·库夫纳（James J.在日本东京大学的机械信息系。 Kuffner博士将与该系教授Hirochika Inoue博士合作，题为“铰接机器人的运动动力学计划”。这项工作的成功结果潜在地应用于各种复杂的动态系统，包括机器人气垫船，卫星，铰接式机器人臂和人形机器人，潜艇，类似汽车的机器人或机器人飞机和直升机。拟议的工作将通过与日本主持人实验室的合作而受益，库夫纳博士将可以使用必要的实验系统，设备和专业知识***。