Collaborative Research: Optimal Gaits and Design for Locomoting Systems

合作研究：运动系统的最佳步态和设计

• 批准号: 0970017
• 负责人: Anette Hosoi
• 金额: $ 29.86万
• 依托单位: Massachusetts Institute of Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2010
• 资助国家: 美国
• 起止时间: 2010-07-15 至 2013-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0970017&HistoricalAwards=false
• 关键词: Collaborative; Research; Optimal; Gaits; Design

Locomotion is everywhere. The capabilities that animals exhibit in converting internal joint motions into displacements inspires us to to ask the question: ?How can we imbue artificial systems with the same ease of motion?? We propose to design, control, and plan motions for a broad class of locomoting systems. These systems maneuver both on land and in the water, and experience dynamics and nonholonomic constraints which may change dynamically. Specifically, the proposed work seeks to: (1) developtools to design and optimize gaits, cyclic internal motions that result in a desired net motion and (2) use these tools to design optimal morphologies for locomoting mechanical systems. To achieve these goals, the proposed work will draw upon fundamentals of differential geometry to develop techniques to efficiently design gaits. Specifically, we will develop tools to analyze and manipulate the reconstruction equation so that it can be used for gait design. With these new efficient tools, we can design optimal gaits for locomoting systems, starting with kinematic systems and moving on to dynamic systems, both with nonholonomic constraints. The proposed work will then use these gait development tools to design optimal robot morphologies.An improved understanding of locomotion is vital for mechanisms that can navigate in challenging terrains, e.g., for applications like urban search and rescue or searching for IEDs in hard to reach locations, such as the nooks and crannies prevalent in the ports of major cities. The proposed work will not provide a system for these tasks, but rather the theory developed in this work will advance robotic mobility and how to quantify it, so that these applications can be achieved and the scientific understanding of locomotion is advanced.

运动无处不在。动物在将内部关节运动转化为位移的能力激发了我们提出一个问题：？我们如何以相同的运动易于启动人造系统？我们建议为一系列的机车系统设计，控制和计划运动。这些系统在陆地和水中都操纵，并体验可能动态变化的动态和非自动限制。具体而言，拟议的工作试图：（1）开发工具设计和优化步态，循环内部运动，导致所需的净运动，以及（2）使用这些工具来设计用于机车机械系统的最佳形态。为了实现这些目标，拟议的工作将借鉴差异几何形状的基本原理，以开发有效设计步态的技术。具体来说，我们将开发工具来分析和操纵重建方程，以便可以用于步态设计。借助这些新的高效工具，我们可以从运动系统开始，并通过非实体性限制设计用于机车系统的最佳步态。然后，拟议的工作将使用这些步态开发工具来设计最佳的机器人形态。对运动的改进了解对于可以在具有挑战性的地形中导航的机制至关重要，例如主要城市港口中普遍存在的角落和缝隙。 拟议的工作将无法为这些任务提供系统，而是在这项工作中开发的理论将提高机器人流动性以及如何量化它，以便可以实现这些应用，并且对运动的科学理解得到了进步。