CAREER: Morphological Computation for Resilient Dynamic Locomotion of Compliant Legged Robots with Application to Precision Agriculture

职业：顺应腿式机器人弹性动态运动的形态计算及其在精准农业中的应用

基本信息

批准号：
2046270
负责人：
Konstantinos Karydis
金额：
$ 57.21万
依托单位：
University of California-Riverside
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2021
资助国家：
美国
起止时间：
2021-03-01 至 2026-02-28
项目状态：
未结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2046270&HistoricalAwards=false
关键词：
CAREER Morphological Computation Resilient Dynamic

项目摘要

This Faculty Early Career Development (CAREER) project innovates compliant multi-legged robotics technology for precision agriculture. High agility, maneuverability, and payload capacity, combined with a small footprint, make legged robots well suited to precision agriculture applications. This project develops and experimentally validates a theoretical and computational framework for structurally compliant legged robots to navigate over natural terrain. A systematic series of experiments will show how increasing the degree of compliance in the robot structure -- from passive elasticity in hip and waist joints, to fully deformable chassis and legs -- affects the efficiency and resilience of locomotion. The project integrates foundational robotics research on design, modeling, motion control, and planning into two educational and outreach programs across K-12 and higher education. The first is a robotics makerspace for undergraduate students at the University of California-Riverside, and the second is a robotics summer academy camp for female middle-school students. Both efforts capitalize on student diversity at UC Riverside, a Hispanic Serving Institution, to broaden participation of under-represented minority groups.The project investigates how compliance embedded into a legged robot can be harnessed to facilitate control and computation, with an eye to enabling efficient and resilient navigation in real agricultural fields. Research activities innovate along three key foundational robotics research directions. 1) Hardware design and dynamic modeling: The project offers fundamental insights and develops models regarding the effect of various forms of compliance on center of mass motion and gait stabilization for certain classes of legged robots and introduces new hardware designs that can harness compliance and enable principles of morphological computation. 2) Locomotion control: The project establishes compliance-aware legged locomotion controllers according to principles of whole-body and central pattern generator-based control to enable efficient closed-loop legged locomotion over a range of engineered and natural unstructured terrains. 3) Non-holonomic motion planning and autonomous navigation: The project develops non-holonomic motion planners that rely upon and utilize distinctive features of robot body morphology and embedded compliance for efficiency and resilience during autonomous legged locomotion over real agricultural fields. This research can transform the science and technology of autonomous legged robots by making them more efficient and resilient in their operation, and thus unlock legged robots’ full potential in precision agriculture.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.

该教师早期职业发展（CAREER）项目创新了用于精准农业的合规多足机器人技术，其高灵活性、可操作性和有效负载能力，加上占地面积小，使足式机器人非常适合精准农业应用。验证了结构顺应性腿式机器人在自然地形上导航的理论和计算框架，一系列系统实验将展示如何通过髋部和腰部关节的被动弹性来提高机器人结构的顺应性程度。完全可变形的底盘和腿——影响运动的效率和弹性该项目将设计、建模、运动控制和规划的基础机器人研究整合到 K-12 和高等教育的两个教育和推广项目中。第二个项目是为加州大学河滨分校本科生举办的机器人创客空间，第二个项目是为女中学生举办的机器人夏令营，这两项工作都利用了加州大学河滨分校（西班牙裔服务机构）的学生多样性，以扩大学生的参与度。该项目研究了如何利用嵌入到腿式机器人中的合规性来促进控制和计算，着眼于在实际农业领域实现高效和有弹性的导航。研究活动沿着三个关键的基础机器人研究方向进行创新。 1) 硬件设计和动态建模：该项目提供了关于各种形式的顺应性对某些类别的腿式机器人的质心运动和步态稳定性的影响的基本见解并开发了模型，并引入了新的硬件设计，可以利用顺应性和2）运动控制：该项目根据全身和基于中央模式生成器的控制原理建立了合规感知的腿式运动控制器，以在一系列工程和自然非结构化条件下实现高效的闭环腿式运动。 3）非完整运动规划和自主导航：该项目开发非完整运动规划器，该规划器依赖并利用机器人身体形态和嵌入式合规性的独特特征，以提高自主过程中的效率和弹性。这项研究可以改变自主足式机器人的科学和技术，使它们在操作中更加高效和有弹性，从而释放足式机器人在精准农业中的全部潜力。该奖项反映了美国国家科学基金会的法定使命，并具有通过使用基金会的智力优点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（7）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Koopman Operators for Modeling and Control of Soft Robotics

用于软机器人建模和控制的库普曼算子

DOI：
10.1007/s43154-023-00099-8
发表时间：
2023-07
期刊：
Current Robotics Reports
影响因子：
0
作者：
Shi, Lu;Liu, Zhichao;Karydis, Konstantinos
通讯作者：
Karydis, Konstantinos

Evaluation of Legged Robot Landing Capability Under Aggressive Linear and Angular Velocities

腿式机器人在剧烈线速度和角速度下的着陆能力评估

DOI：
10.1109/icra48891.2023.10161440
发表时间：
2023-05
期刊：
IEEE International Conference on Robotics and Automation (ICRA
影响因子：
0
作者：
Ye, Keran;Karydis, Konstantinos
通讯作者：
Karydis, Konstantinos

Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine

预载弹性棱柱脊柱四足动物立定跳远建模与轨迹优化

DOI：
10.1109/iros51168.2021.9636606
发表时间：
2021-09
期刊：
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
影响因子：
0
作者：
Ye, Keran;Karydis, Konstantinos
通讯作者：
Karydis, Konstantinos

A pneumatic random-access memory for controlling soft robots

用于控制软机器人的气动随机存取存储器