An energy-efficient bipedal walking robot
节能型双足行走机器人
基本信息
- 批准号:0413139
- 负责人:
- 金额:--
- 依托单位:
- 依托单位国家:美国
- 项目类别:Continuing grant
- 财政年份:2004
- 资助国家:美国
- 起止时间:2004-08-01 至 2008-07-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
The goal here is to develop a powered bipedal robot that walks in a more human-looking manner and with smaller energy cost than all previous walking robots that have similar gross abilities. The geometry of the robot will be loosely based on human body parts. This robot will generate its life-like motions by chasing efficiency and simplicity rather than by tracking trajectories. Others have built beautifully engineered humanoid walking robots with flat feet and with motions that are carefully controlled to move smoothly, joint by joint and at every instant in time. These robots typically use about 50 times as much energy per unit weight and distance as does a person. Ruina's approach will build on his Cornell lab's recent bipedal robot that has a natural-looking gait and which uses (scaled) about as much energy as is used by a human. The existent Cornell robot, based on the `passive dynamic' approach of McGeer, is basically sticks and hinges arranged in a way that is reminiscent of a human body, and with a small motor to extend the ankles as each foot leaves the ground. The robot being developed will add functionality including the ability to stand still, to start and stop walking, to walk at various speeds, and to turn. Intellectual merit: The proposed new robot will test the general hypothesis that robotic human mimicry is well-accomplished by holding energetic efficiency and control simplicity paramount. Broader impact: Robots serve as a natural vehicle of science education. As in past years at Cornell, undergraduate students will be involved in the research. Visiting high-school students are inspired by visits to the lab. Cooperation with the Science Museum of Minnesota Cyborgs exhibit will continue as will cooperation with the media. Dissemination of the should alter the mode of thinking of those involved in the design of robots and also of those involved in the diagnosis and correction of human walking disabilities
这里的目标是开发一种动力双足机器人,它的行走方式更加人性化,并且比之前所有具有类似总体能力的行走机器人的能量成本更小。机器人的几何形状将松散地基于人体部位。该机器人将通过追求效率和简单性而不是跟踪轨迹来产生逼真的运动。其他人则建造了设计精美的人形步行机器人,它们具有扁平足,其运动经过精心控制,可以在每个关节的每个瞬间顺利移动。这些机器人每单位重量和距离消耗的能量通常是人类的 50 倍。鲁伊纳的方法将建立在他的康奈尔实验室最近推出的双足机器人的基础上,该机器人具有自然的步态,并且使用(缩放)与人类使用的能量大致相同。现有的康奈尔机器人基于麦克吉尔的“被动动态”方法,基本上由棍子和铰链组成,其排列方式让人想起人体,并配有一个小型电机,用于在每只脚离开地面时伸展脚踝。 正在开发的机器人将增加一些功能,包括静止不动、开始和停止行走、以不同速度行走以及转弯的能力。智力优点:所提出的新型机器人将测试以下一般假设:通过将能量效率和控制简单性放在首位,机器人可以很好地完成人类模仿。更广泛的影响:机器人是科学教育的天然载体。与过去几年在康奈尔大学一样,本科生将参与这项研究。来访的高中生会因参观实验室而受到启发。与明尼苏达州科学博物馆机器人展览的合作以及与媒体的合作将继续进行。传播应该改变那些参与机器人设计以及那些参与人类步行障碍诊断和矫正的人的思维模式
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
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Andy Ruina其他文献
Andy Ruina的其他文献
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{{ truncateString('Andy Ruina', 18)}}的其他基金
NRI: Small: Reflex approximation of optimal control for an energy-efficient bipedal walking platform
NRI:小:节能双足步行平台最优控制的反射近似
- 批准号:
1317981 - 财政年份:2013
- 资助金额:
-- - 项目类别:
Standard Grant
Collaborative Research: A Complementarity-Free Contact Model for Robotics Applications
协作研究:机器人应用的无互补接触模型
- 批准号:
1100171 - 财政年份:2011
- 资助金额:
-- - 项目类别:
Standard Grant
RI: Robust implementation of foot placement for balance of 3D bipedal walking
RI:稳健地实现足部放置以实现 3D 双足行走的平衡
- 批准号:
0705390 - 财政年份:2007
- 资助金额:
-- - 项目类别:
Standard Grant
Passive, Nonlinear-Dynamic Study of Walking: Simulation, Analysis, and Experiment
步行的被动非线性动态研究:模拟、分析和实验
- 批准号:
9806612 - 财政年份:1998
- 资助金额:
-- - 项目类别:
Continuing grant
Presidential Young Investigator Award: Mechanics of Surface Contact
总统青年研究员奖:表面接触力学
- 批准号:
8352397 - 财政年份:1984
- 资助金额:
-- - 项目类别:
Continuing Grant
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