CRII: RI: Energy Effective and Versatile Bipedal Robots Using Event-Based Switching Between Parameterized Steady-State Controllers

CRII：RI：节能且多功能的双足机器人，在参数化稳态控制器之间使用基于事件的切换

• 批准号: 1566463
• 负责人: Pranav Bhounsule
• 金额: $ 15.9万
• 依托单位: University of Texas at San Antonio
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-09-01 至 2020-02-29
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1566463&HistoricalAwards=false
• 关键词: CRII; RI; Energy; Effective; Versatile

Bipedal robots, unlike humans, are either energy-effective or versatile but not both at the same time. For example, the Honda ASIMO can walk over stairs and navigate around obstacles but needs to be recharged about every hour or so. On the other hand, robots inspired by passive dynamics use trivial amounts of energy to move but are limited to a single speed and step length. This project develops a theory that fills this knowledge gap by enabling bipedal robots to make informed decisions about what strategy to follow given a particular circumstance. For example, on rough terrains, a robot may have to decide to expend more energy in order to maximize stability while, in cases where the terrain is flat and regular, the same robot can decide to use its most energy-efficient gait while paying little heed to stability.There is a need to develop a theory that would simultaneously enable improved performance metrics for the energy-efficiency and versatility of bipedal robots. The instability of bipedal robots, due to their inverted pendulum like nature, makes this challenge even greater; hence, metrics for balance and stability also need to be met simultaneously. The gap in knowledge is that, it is unclear how to enable bipedal robots to satisfy all these performance metrics, some of which can actually be conflicting (e.g., energy-efficiency trade-offs with stability).

与人不同，双足机器人是能量有效的或多才多艺的，但并非同时。例如，本田Asimo可以在楼梯上行走并在障碍物上航行，但需要每小时左右充电。另一方面，受无源动态启发的机器人使用琐碎的能量移动，但仅限于单个速度和步长。该项目开发了一种理论，通过使双皮亚机器人能够在特定情况下遵循哪种策略做出明智的决定来填补这一知识差距。 For example, on rough terrains, a robot may have to decide to expend more energy in order to maximize stability while, in cases where the terrain is flat and regular, the same robot can decide to use its most energy-efficient gait while paying little heed to stability.There is a need to develop a theory that would simultaneously enable improved performance metrics for the energy-efficiency and versatility of bipedal robots.双方机器人的不稳定性，由于它们像自然一样倒置，使这一挑战更加大。因此，还需要同时满足平衡和稳定性的指标。知识的差距是，尚不清楚如何启用双皮亚机器人来满足所有这些性能指标，其中一些指标实际上可能是冲突的（例如，稳定性的能源效率折衷）。