人类步行机理认知下的双足机器人步态与智能协同进化理论基础

项目名称： 人类步行机理认知下的双足机器人步态与智能协同进化理论基础

项目编号： No.61503325

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 吴晓光

作者单位： 燕山大学

项目金额： 21万元

中文摘要： 双足步行机器人的核心价值是通过对人类步行机理的认知、涌现新的步态和智能来适应不同的环境条件和任务要求。现有研究表明，基于主/被动控制思想设计机器人目标步态，规划位姿轨迹、控制各关节高效、稳定、柔顺运动，其难度大大超出研究者最初的设想。本课题尝试从全新角度剖析人类多种典型步态演化、状态变迁的本质，希望借鉴人类普遍拥有的动态(不)平衡肢体自动调节功能、突发事件应急能力，研究双足机器人类人步态的产生机理与进化准则，将环境与任务看作控制策略更新的驱动力和诱导因素，通过未知环境下双足步行机器人基本步态的演化与智能控制的自学习，促使双足步行机器人朝着适应环境和任务的方向发展进化，不断调整步态模式、更新控制策略，最终演化成鲁棒、高效、多样的类人步态控制规律。本项目的突破，不仅将有效拓展双足机器人相关基础理论和应用研究，也将对类人型机器人、外骨骼机器人、助老/助残机器人等研究发展提供重要的指导意义。

中文关键词： 双足；步行机理；步态；运动捕捉；动态不平衡

英文摘要： The core value of the biped walking robot is the adaptation of variety environment conditions and requirements by cognizing the mechanism of human walking and the presenting of the new gait function. The current researches shows that, the difficulty of the design, base on the active/passive thought, for designing the target gait of the robot, programming the pose trajectory and controlling the movement of every joints which is efficient, steady and compliant, is far beyond the original vision which people thought. The subject tries to analyze the nature of the evolvement and the state transition about human typical gait in a new direction. Using the general dynamically balanced/imbalanced automatic adjustment ability and emergency capability by every normal person for reference, it studies on the generating mechanism and evolutionary rule of human-like gait about biped walking robot, seeing the environment and the task as the driving force and induction factors for updating the robot control strategy, using the basic-gait-evolution and self-learning of intelligent control for biped walking robot, promoting the evolution of the biped walking robot to adapt the environment and the task, modifying the gait-mode and renewing the control strategy continuously and finally evolving to be a robust, efficient and multiple human-like gait control rule. The breakthrough of item will not only efficiently expand the basic theory and applied research about biped walking robot, but also provide an important guide for developing other types robots, such as human-appearance robot, exoskeleton robot and old-assistant/disable-assistant robot.

英文关键词： Biped;Walking principle;Gait;Motion capture;Dynamic imbalance