RI: Small: Agile Legged Robots: Composing Periodic Gaits for Aperiodic Locomotion

RI：小型：敏捷腿式机器人：为非周期性运动组合周期性步态

基本信息

批准号：
1816925
负责人：
Pranav Bhounsule
金额：
$ 35.1万
依托单位：
University of Texas at San Antonio
依托单位国家：
美国
项目类别：
Continuing Grant
财政年份：
2018
资助国家：
美国
起止时间：
2018-09-01 至 2019-10-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1816925&HistoricalAwards=false
关键词：
RI Small Agile Legged Robots

项目摘要

The overall objective of this project is to create computational algorithms for legged agility, which is defined as the robots ability to change its speed, direction, and/or gait (e.g., walk to run). As evident from biology, legs provide a highly agile mode of locomotion, yet no legged robot has been able to achieve performance comparable to highly performing humans or animals. The continued existence of this need is an important problem because it limits the usefulness of legged robots; the need to start, stop, change directions, accelerate/decelerate quickly are all essential if legged robots are to replace wheeled robots in rough terrain. Some applications of such agile robots are, as first responders, as search and rescue personnel, and as industrial workers. In addition, this research will provide training opportunities for multiple undergraduate students and outreach to school children including target populations that are traditionally under-represented in Science, Technology, Engineering, and Mathematics (STEM). The key idea to achieve agility is to combine steady-state (periodic) gaits to achieve non-steady gaits. The rationale is that computation-wise, steady-state gaits are at least an order of magnitude cheaper to compute than non-steady gaits. The specific aims of this research are to create tools for (1) filling the entire state space with steady-state gait controllers and associated stabilizing controllers, (2) transitioning between steady-state gaits to create agile gaits and (3) experimental validation of the approach. A novel formulation of the Lyapunov function allows the creation of stabilizing controllers and estimating the regions of attraction (ROA). Then these ROAs will be composed sequentially based on their overlapping regions to create transition controllers for agile locomotion.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目的总体目标是创建腿敏捷性的计算算法，腿敏捷性被定义为机器人改变其速度、方向和/或步态（例如，从步行到跑步）的能力。从生物学上可以明显看出，腿提供了高度敏捷的运动模式，但没有腿机器人能够实现与高性能人类或动物相媲美的性能。这种需求的持续存在是一个重要问题，因为它限制了腿式机器人的实用性。如果腿式机器人要在崎岖的地形中取代轮式机器人，那么启动、停止、改变方向、快速加速/减速的需求都是必不可少的。这种敏捷机器人的一些应用包括作为急救人员、搜索和救援人员以及产业工人。此外，这项研究还将为多名本科生提供培训机会，并为学童提供培训机会，包括传统上在科学、技术、工程和数学 (STEM) 领域代表性不足的目标人群。实现敏捷性的关键思想是结合稳态（周期性）步态来实现非稳态步态。其基本原理是，在计算方面，稳态步态的计算成本至少比非稳态步态便宜一个数量级。这项研究的具体目标是创建工具，用于（1）用稳态步态控制器和相关的稳定控制器填充整个状态空间，（2）在稳态步态之间转换以创建敏捷步态，以及（3）实验验证的方法。 Lyapunov 函数的新颖公式允许创建稳定控制器并估计吸引区域 (ROA)。然后，这些 ROA 将根据其重叠区域依次组成，以创建用于敏捷运动的过渡控制器。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

期刊论文数量（2）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Energetically-optimal Discrete And Continuous Stabilization Of The Rimless Wheel With Torso

带躯干的无缘轮的能量优化离散和连续稳定

DOI：
发表时间：
2019
期刊：
ASME-International Design Engineering & Technical Conference
影响因子：
0
作者：
Sirichotiyakul, Wankun;Satici, Aykut C;Sanchez, Sebastian;Bhounsule, Pranav A
通讯作者：
Bhounsule, Pranav A

Feedback motion planning of legged robots by composing orbital Lyapunov functions using rapidly-exploring random trees

通过使用快速探索随机树组合轨道 Lyapunov 函数来进行腿式机器人的反馈运动规划