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
• 负责人: Andy Ruina
• 金额: $ 99.99万
• 依托单位: Cornell University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-09-01 至 2017-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1317981&HistoricalAwards=false
• 关键词: NRI; Small; Reflex; approximation; optimal

The broad research goal of this project is to better understand the mechanics, balance, and energetics of bipedal walking. The first specific goal is to design, build and test a two-legged walking 'platform', a waist-down robot, and its computer controller. One can think of this platform as a legged Segway, for use by others putting on robotic upper bodies with arms and heads. The goal is to match the robustness of existent bipedal robots but with no need for electrical cords or hydraulic tubes and with approximately a 90 percent reduction in energy use. This will be achieved by the development and use of a reflex-based controller that minimizes the needed sensor bandwidth and on-board computation. The second goal is to advance the theories of walking balance and energetics including, especially, basic models for understanding the tradeoffs between robustness, versatility, energy efficiency, sensor accuracy and motor size. Deliverable outcomes include a demonstrable robot with a new 'reflex-based' controller, public access to complete design and control information, basic design formulas for the fundamental design trade-offs, student design and research experience, and inspiring demonstrations for public viewing.If successful, robots based on this platform design could replace wheel and tread based systems used for, and proposed for use for, service robotics. The advantages of legs over wheels include a more anthropomorphic look, for human interaction, and, ultimately with further development, the ability to function on rough terrain. The basic theories of balance and energetics developed in this work will add insight concerning human walking, ultimately helping with the diagnosis and remediation of human disabilities, including aiding the design of assistive and prosthetic devices. The hands-on development work will educate and inspire engineering students working on the project. The demonstrations and demonstration videos will serve as an inspiration to those considering engineering careers.

该项目的广泛研究目标是更好地了解双足行走的力学、平衡和能量学。 第一个具体目标是设计、建造和测试一个两足行走“平台”、一个腰部以下的机器人及其计算机控制器。 人们可以把这个平台想象成一辆有腿的赛格威，供其他人使用，穿上带有手臂和头部的机器人上半身。目标是与现有双足机器人的稳健性相匹配，但不需要电线或液压管，并且能源消耗减少约 90%。这将通过开发和使用基于反射的控制器来实现，该控制器最大限度地减少了所需的传感器带宽和板载计算。 第二个目标是推进步行平衡和能量学理论，特别包括用于理解鲁棒性、多功能性、能源效率、传感器精度和电机尺寸之间权衡的基本模型。可交付的成果包括具有新的“基于反射”控制器的可演示机器人、对完整设计和控制信息的公众访问、基本设计权衡的基本设计公式、学生设计和研究经验以及供公众观看的鼓舞人心的演示。成功后，基于该平台设计的机器人可以取代用于或建议用于服务机器人的基于轮子和胎面的系统。与轮子相比，腿的优点包括更拟人化的外观，适合人类互动，并且最终随着进一步发展，能够在崎岖的地形上发挥作用。这项工作中开发的平衡和能量学的基本理论将增加对人类行走的见解，最终有助于人类残疾的诊断和治疗，包括帮助辅助和假肢设备的设计。实践开发工作将教育和激励从事该项目的工程专业学生。演示和演示视频将为那些考虑从事工程职业的人提供灵感。