CAREER: Closing the Loop on Walking: From Hybrid Systems to Bipedal Robots to Prosthetic Devices and Back

职业生涯：关闭步行循环：从混合系统到双足机器人，再到假肢装置，然后再返回

• 批准号: 1600803
• 负责人: Aaron Ames
• 金额: $ 13.51万
• 依托单位: Georgia Tech Research Corporation
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-07-01 至 2016-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1600803&HistoricalAwards=false
• 关键词: CAREER; Closing; Loop; Walking; Hybrid

This Faculty Early Career Development (CAREER) grant provides funding for contributions to the foundations of hybrid systems through the anthropomorphically motivated study of dynamic walking of bipedal robots, with a special focus on behavior unique to hybrid systems and applications to prosthesis design. Bipedal walking is a quintessential example of complex dynamically stable behavior. Hybrid systems---systems with both continuous and discrete behavior---provide a modeling paradigm in which to capture the behavior of highly complex systems, resulting in new phenomena not found in continuous and discrete systems. Bipedal walking robots are naturally modeled as hybrid systems, and it is the confluence of these two areas---bipedal walking and hybrid systems---that affords a unique opportunity to further the understanding of each of these areas. This project uses studies of human walking to obtain accurate and anthropomorphic hybrid models of bipedal robots, designs control laws that yield human-like walking through the use of geometric reduction, formally studies the stability and robustness of the resulting hybrid systems, and uses this cumulative understanding of bipedal walking to design prosthesis devices. The applications of the ideas underlying this project are far reaching, providing new research directions in hybrid systems and a new understanding of the fundamental mechanisms underlying walking. Applying this understanding to the design of prosthesis devices could have a dramatic impact on the quality of life of the millions of lower body extremity amputees. Furthermore, the anthropomorphic nature of bipedal locomotion has wide appeal to people of all ages and demographics, greatly facilitating outreach and education.

这项教师的早期职业发展（职业）赠款通过拟人化动机的动态步行两只机器人的动态步行，为混合系统的基础提供了资金，并特别关注了混合系统独有的行为以及对假体设计的应用。两足动物步行是复杂动态稳定行为的典型示例。 混合系统---具有连续和离散行为的系统 - 提供了一个建模范式，以捕获高度复杂系统的行为，从而导致在连续和离散的系统中未发现新现象。 两足步行机器人自然地建模为混合系统，这是这两个领域的汇合处 - 两国步行和混合系统 - 提供了一个独特的机会，可以进一步了解这些领域。 该项目使用对人类步行的研究来获得双皮亚机器人的准确和拟人化的混合模型，设计控制法律，这些定律会产生类似人类的步行，并正式研究了所得混合系统的稳定性和稳健性，并使用对双皮德步行的累积理解，以设计双皮亚的设计假体设备。 该项目基础的想法的应用已达到遥远，在混合系统中提供了新的研究方向，并对步行的基本机制有了新的理解。 将这种理解应用于假体设备的设计可能会对数百万个下半身肢体的生活质量产生巨大影响。 此外，两足动力的拟人化性质对所有年龄和人口统计的人都有广泛的吸引力，极大地促进了外展和教育。