Geometric Methods in the Control of Bipedal Walking Robots

双足行走机器人控制中的几何方法

• 批准号: 0856368
• 负责人: Mark Spong
• 金额: $ 15万
• 依托单位: University of Texas at Dallas
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-06-01 至 2012-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0856368&HistoricalAwards=false
• 关键词: Geometric; Methods; Control; Bipedal; Walking

The object of this project is to develop control algorithms for bipedal walking robots using concepts of geometric reduction. Geometric reduction takes advantage of certain symmetry properties in the dynamic equations of bipedal robots and facilitates the computation of lower dimensional models for analysis and control design. The goal is to enable control concepts developed for two-dimensional, or planar, bipeds to be applied to fully three-dimensional bipeds. In this way, the complexity of the control problem for three-dimensional walking robots is greatly reduced. The project will also investigate the effects of asymmetries in leg parameters, such as leg length and leg mass, on the existence and properties of passive gaits. Preliminary investigations indicate that asymmetry in leg parameters, such as leg mass, results in qualitative changes in gait, such as period-doubling bifurcations and chaotic motion. Deliverables from this research include new control algorithms, new simulation models and graphical simulation tools for visualization of simulation data.The practical application of this research is in the design of walking robots that have improved performance capabilities over existing machines. Current walking robots have limited range due to poor energy utilization and are limited in their ability to navigate uneven terrain. More practical and more efficient walking machines will result once the full power of available theoretical tools is brought to bear on the analysis and design questions in this project. The tools developed in this project will also contribute to a better understanding of human locomotion, which will result in applications in biomechanics and biomedicine, such as the design of improved prosthetic devices, the development of falls prevention programs for the elderly, and rehabilitation techniques. The study of bipeds with parameter asymmetry is motivated by the desire to understand the effect of asymmetry of human gait on walking stability, performance, and gait disorders. Our research results will also be used to create demonstrations and presentations for middle school and high school students to be used as recruiting tools. Our past experience has shown that robotics is an excellent vehicle to attract and retain students in engineering.

该项目的目的是使用减少几何概念来开发两足步行机器人的控制算法。几何减少利用了两足机器人的动态方程中的某些对称属性，并促进了较低维模型的计算进行分析和控制设计。目的是启用针对二维或平面的控制概念，以应用于完全三维的双皮子。这样，三维步行机器人的控制问题的复杂性大大降低了。 该项目还将研究不对称腿参数（例如腿长和腿部质量）对被动步态的存在和特性的影响。 初步研究表明，腿部参数（例如腿部质量）中的不对称性会导致步态的质量变化，例如分叉和混乱的运动。这项研究的可交付成果包括新的控制算法，新的仿真模型和用于可视化模拟数据的图形仿真工具。该研究的实际应用是在步行机器人的设计中，这些机器人在现有机器上具有提高性能能力。目前的步行机器人由于能源利用率较差而其范围有限，并且其驾驶不平衡地形的能力受到限制。一旦在该项目中的分析和设计问题上，将产生更实用，更高效的步行机。该项目中开发的工具还将有助于更好地了解人类运动，这将导致生物力学和生物医学的应用，例如改进的假体设备的设计，为老年人的瀑布预防计划的开发以及康复技术的开发。渴望了解人步态对步行稳定性，性能和步态障碍的不对称作用的愿望，对具有参数不对称的双头研究的研究的动机。我们的研究结果还将用于为中学和高中生创建演示和演示文稿，以用作招聘工具。我们过去的经验表明，机器人技术是吸引和留住工程学生的绝佳工具。