CAREER: Structure and Control of Systems with Contact Uncertainty

职业：具有接触不确定性的系统的结构和控制

基本信息

批准号：
1943900
负责人：
Aaron Johnson
金额：
$ 66.64万
依托单位：
Carnegie-Mellon University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2020
资助国家：
美国
起止时间：
2020-07-01 至 2025-06-30
项目状态：
未结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1943900&HistoricalAwards=false
关键词：
CAREER Structure Control Systems Contact

项目摘要

This Faculty Early Career Development (CAREER) grant will create new ways to understand and control robots that walk, jump, or grasp. Specifically, the project will study robots that repeatedly make and break contact with the ground or some other surface. Planning and controlling motion involving contact is particularly challenging, because very small changes in, for example, the friction between the two surfaces or the points at which the contact occurs, may cause large changes in the robot's overall motion. For example, small changes in where a robot hand touches a tool may cause the tool to slip from the robot's grasp. Or small differences in where a robot places its foot on rocky ground may cause the robot to trip and fall. Robots are most successful when their workspace is carefully monitored and maintained. For robots to be equally successful in unstructured and unpredictable real-world settings requires new motion planning and control methods, such as this project will develop. These new capabilities promise benefits in applications ranging from home healthcare, to environmental monitoring, to manufacturing. The project also features robot activities for K-12, undergraduate, and graduate education.This project will model and analyze the structure of systems that have uncertainty in their contact conditions. In particular, this work considers both local stability properties around uncertain contact timing and event sequences, as well as the global topological structure of the system. This project will discover properties of the dynamics and contact conditions that predict successful behaviors by extending notions of contraction or convergence to discontinuous contact systems as well as finding persistent topological features. The second part of this project will then use these properties to find new control generation strategies that are robust to uncertainty in the timing of planned contact events as well as anticipate and possibly avoid unplanned contact events. While many ad hoc solutions have been researched for different settings, this research will unify and extend these point solutions by leveraging these common structural properties. The result will be a set of methods for generating controllers that avoid problematic behavior when contact modes change unexpectedly, for example when feet scuff or slip on a surface, but still allow for rich changing contact conditions.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.

这位教师早期职业发展（职业）赠款将创建新的方法来理解和控制行走，跳跃或掌握的机器人。具体而言，该项目将研究与地面或其他表面反复接触并破坏接触的机器人。涉及接触的计划和控制运动特别具有挑战性，因为例如，两个表面或接触点之间的摩擦发生很小的变化可能会导致机器人的整体运动发生很大变化。例如，机器人手触摸工具的小更改可能会导致该工具从机器人的掌握中滑落。或在机器人将脚放在岩石地面上的地方差异很小，可能会导致机器人绊倒。当仔细监控和维护其工作空间时，机器人最成功。为了使机器人在非结构化和不可预测的现实世界中同样成功，需要新的运动计划和控制方法，例如该项目。这些新功能有望在从家庭医疗保健到环境监测到制造业的应用中受益。该项目还为K-12，本科和研究生教育提供机器人活动。该项目将模拟和分析在其接触条件下具有不确定性的系统结构。特别是，这项工作考虑了不确定的接触时间和事件序列以及系统的全球拓扑结构围绕不确定的接触时间和事件序列围绕的局部稳定性。该项目将发现动态和接触条件的属性，这些属性通过将收缩或收敛的概念扩展到不连续的接触系统以及查找持续性拓扑特征来预测成功行为。然后，该项目的第二部分将使用这些属性来寻找新的控制生成策略，这些策略在计划的接触事件的时机以及预期的情况下以及可能避免计划外的接触事件方面具有不确定性。尽管已经研究了许多临时解决方案，但该研究将通过利用这些常见的结构特性来统一和扩展这些点解决方案。结果将是一组生成控制器的方法，这些方法会在接触模式出乎意料时避免有问题的行为，例如，当脚划伤或滑倒在表面上时，但仍允许变化的接触条件变化。该奖项反映了NSF的法定任务，并被认为是值得通过基金会的知识分子和更广泛影响的评估来通过评估来获得支持的。