Penn Jerboa：一个探索模板并行组合的平台
The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates
摘要：
我们已经建立了一个12自由度，被动顺应腿，尾驱动四个无刷直流电机。我们预计，这台机器将实现各种准静态和动态平衡模式，实现广泛的运动任务，包括坐，站，走，跳，跑，转弯，跳跃等。用单个欠驱动身体实现这种行为的多样性，需要相应的多样化控制器阵列，激发我们对合成技术的兴趣，这些技术促进相对较少的基本成分的混合和重复使用，以实现组合增长的可用选择阵列。在这里，我们报告这样的行为编程方法的一个重要例子的发展，通过并行组成的四个解耦的1DOF基地控制器的一个新的pededal矢状面跳跃步态的建设。对于该示例行为，腿部被锁定在相位中，并且身体被紧固到吊杆以将运动限制到矢状平面。平台的运动由臀部电机提供动力，该电机在飞行中调整腿部触地角度并在站立时保持平衡，以及尾部电机，该电机在飞行中调整身体形状并在站立时将能量驱动到被动腿部小腿弹簧中。电机控制信号产生的应用程序并行的四个简单的，完全解耦的1DOF反馈法，证明稳定隔离四个相应的1DOF抽象参考植物。这些抽象的1DOF闭环动力学中的每一个都代表了手头上运动任务的一些简单但关键的特定组件。我们提出了一个部分证明的正确性，这种并行组合物的模板参考系统，以及从物理平台的数据表明这些模板锚定证明了他们的特征运动的对应关系，从物理平台的轨迹的适当变换的图像。
英文摘要：
We have built a 12DOF, passive-compliant legged, tailed biped actuated by four brushless DC motors. We anticipate that this machine will achieve varied modes of quasistatic and dynamic balance, enabling a broad range of locomotion tasks including sitting, standing, walking, hopping, running, turning, leaping, and more. Achieving this diversity of behavior with a single under-actuated body, requires a correspondingly diverse array of controllers, motivating our interest in compositional techniques that promote mixing and reuse of a relatively few base constituents to achieve a combinatorially growing array of available choices. Here we report on the development of one important example of such a behavioral programming method, the construction of a novel monopedal sagittal plane hopping gait through parallel composition of four decoupled 1DOF base controllers. For this example behavior, the legs are locked in phase and the body is fastened to a boom to restrict motion to the sagittal plane. The platform's locomotion is powered by the hip motor that adjusts leg touchdown angle in flight and balance in stance, along with a tail motor that adjusts body shape in flight and drives energy into the passive leg shank spring during stance. The motor control signals arise from the application in parallel of four simple, completely decoupled 1DOF feedback laws that provably stabilize in isolation four corresponding 1DOF abstract reference plants. Each of these abstract 1DOF closed loop dynamics represents some simple but crucial specific component of the locomotion task at hand. We present a partial proof of correctness for this parallel composition of template reference systems along with data from the physical platform suggesting these templates are anchored as evidenced by the correspondence of their characteristic motions with a suitably transformed image of traces from the physical platform.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
